Apple Pencil
How can I get my Apple Pencil to connect to my iPad? I have had them both for 3 years and suddenly my Apple Pencil keeps disconnecting
iPad Pro, iPadOS 13
See >>> Connect Apple Pencil with your iPad - Apple Support
Here is one of the better troubleshooting guides for Apple Pencil:
https://appletoolbox.com/apple-pencil-not-working-heres-our-troubleshooting-guide/
I hope these resources prove to be helpful in troubleshooting and resolving the problem.