I have no experience with Copics but I do know that they tend to be what a lot of pros use when inking, though they do tend to be expensive, and a lot of people also use Microns.
I've bought a few Micron pens over the years, and they're really great tbh. I have drawing I inked from before 2009 with them, and the ink has held up great, it also dries instantly and I haven't noticed any fading, though you can expect that with almost any medium if you 'try' to rub it.
Sharpies would be the lowest tier for inking anything as they do tend to bleed. The ink also has a certain sheen to it rather than the seemingly matte finish of Micron and Copic pens which use archival ink.
-If you have the money to blow and are serious about what you're doing, get Copic.
-If you want a good quality marker and bang for your buck, get Micron.
-Don't get Sharpie.