The Belle and Belle~II experiments have collected a 1.1~ab$^{-1}$ sample of $e^+ e^-\to B\bar{B}$ collisions at the $\Upsilon(4S)$. The study of hadronic $B$ decays in these data allow the precise measurement of absolute branching fractions and angular distributions of the decay products. These measurements provide tests of QCD and enable the generation of more realistic simulation samples. We present measurements of the decays $B^-\to D^0\rho^-$, $\bar{B}^0\to D^+\pi^-\pi^0$, $B\to DK^{*}K$ and $\bar{B}^0\to\omega\omega$. In addition, we search for the decays $B\to D^{(*)}\eta\pi$, which can be related to poorly known $B\to X_c\ell\nu$ decays that include an $\eta$ meson in the final state.