Recalibrate iPad Gyroscope (iPad screen orientation problem)

With no apps open and 10GB avail storage (33%), the screen orientation on my 5th Gen iPad w/LTE iPadOS 13.4.1 continues to misbehave.

Happens on lock screen, home screen and with apps too. Screen frequently opens upside down or sideways relative to current orientation (problem when held vertically / portrait and horizontally). Even when iPad lock and/or home screens are behaving, apps may open upside down or sideways. Current “fix” involves wrangling (like iPhone compass calibration) with the iPad and also open, kill, open, kill, open, ... if app is misbehaving.

Has been a problem on my iPad since at least as far back as iOS 12.

What’s the real fix? Without Compass App how else can I force gyro recalibration? Would recalibration help?

5th Gen iPad w/LTE iPadOS 13.4.1