You cannot do so. By design, once actually disabled, there is only one mechanism to regain access to the device. And that is to restore it in iTunes (finder in MacOS Catalina or Big Sur), erasing it and resetting the passcode.
There is no means at all to regain access to a disabled device with data intact. That is an actual design feature of iOS and iPadOS. You must erase a disabled device to reset it. Ordinarily, you’d then restore your data from your iCloud or iTunes backup to get your data back. Without such a backup, you’re inherently going to loose data.
See -> If you forgot the passcode on your iPad, or your iPad is disabled - Apple Support