I chatted with Apple Support. They took me through all the suggested steps to diagnose, disconnect, charge, forget, add and nothing worked. The eventual solution was scheduling a Genius Bar appointment and replacing the Apple Pencil 2.
Within a month, the new Apple Pencil 2 failed to connect even though the IPad Pro (4th Gen) recognized it but didn't offer a way to connect. I erased all data and reset my IPad Pro to factory settings and this didn't work either.
This happened twice; once with a new Apple Pencil 2 and again with the replacement Pencil 2 Apple provided.
The only solution was replacing the Apple Pencil 2. I'm on my fourth Apple Pencil . This is definitely an Apple product quality issue.