Apple Pencil 2nd Gen Makes Jagged Mark, Changes Tool By Itself, and Draws Weird Lines When Hovering

Hello!

I have the Apple Pencil 2nd Generation for my iPad Pro 12.9 2nd Generation. Once my iPad goes below 80% the pencil will start making random dots, making incomplete (dotted) marks, and will change to the eraser tool on its own. Even placing my palm on the iPad before writing won't keep these marks from randomly happening. It's like I don't have control over my pencil. When I try to erase the marks, it will erase the first mark and switch to the pencil tool on its own and make another mark. How can i get this to stop? I use this for school, so this happening while taking notes puts me behind in lecture.

Also, my iPad keeps freezing. The screen turns black and it wont force restart. This has been happening a lot lately as well. I just got this iPad in May 2020 with no accidents happening, so I don't understand why it becomes unresponsive and won't force restart.