Forgot password

So I have an iPad mini that I used for a very long time before moving on to iPhones. I wanted to access my iPad mini again but forgot the password. Both my iPhone and iPad are on the same Apple ID, and I was wondering if there was a way to recover the password using Apple ID. It should be noted I never backed up my iPad mini. Update (I don’t know how to delete the original question) I found it out somehow, and even I don’t know how. Really confusing. Still would be nice to know if there is a way for future reference