I have to ask what might be an obvious question - as some confusion between available storage types locations have been observed amongst many users that have asked similar questions in the past. I quite understand you reticence in attempting upgrade from one major version to another without having a precautionary iCloud or iTunes backup.
Are you confusing available iCloud storage with the “on-device storage” of your iPad?
iCloud
Settings > [Your Name / AppleID] > iCloud > Manage Storage - verify reported used and spare space.
iPad (on-device)
Settings > General > iPad Storage - verify reported used and spare space.
Now, having hopefully cleared-up any confusion if it exists (I respect that you may in fact be fully aware - but past questions within the community suggest that the question must be asked), lets establish if we do in fact have adequate space for the backup.
Settings > [Your Name / AppleID] > iCloud > Manage Storage > Backups > [This iPad]
Now, check the Backup Size and Next Backup Size - the sizes of both will depend upon the last backup (if it exists) and the amount of data required for the next incremental backup. You must have at least the amount of iCloud free space to accommodate the Next Backup Size. Ideally, I would recommend that you try to maintain at least the amount of free space for a full backup (i.e., Backup Size + Next Backup Size).
Remember that you initial “free of charge” 5GB iCloud storage is quite limiting - and is often inadequate for backup of a device in regular use. Consider also that your iCloud space is shared with other services (such as synchronised data libraries for native Apps, email and Messaging etc.). Many users often need to opt for a least the first “paid” tier of iCloud Storage (50GB) - sometimes more.
I hope this information is helpful to you, if only in helping you to check that you do in fact have adequate iCloud space for your needs. Hopefully this will identify any storage issues that are inhibiting your ability to backup to iCloud.
If you have access to a PC or Mac, you could also consider creating an iTunes backup - for security - prior to making the leap from iOS12 to iPadOS13.x.
Do let us know how you get on - and any ongoing issues, with detail, that you might still have.