Does the apple pencil 1st gen get an update

Older iPads, like iPad Air 2 or iPad Mini 4 and earlier lack/do not have the nececessary SCREEN HARDWARE LAYER added needed for Apple Pencil compatibility.

THIS IS MISSING/LACKING HARDWARE IN OLDER IPADS! Not a software problem, at all. Understand?

Older iPads that will still get newer iOS updates will never be able to use the Apple Pencil, ever!

This was NEVER about a software issue.

Apple has not indicated that will happen. And it's rather unlikely. If you own an iPad which does not support Apple Pencil, there are options you can pick up, like the Adonit Pixel, which has gotten excellent reviews.