Opening iPad
Currently I have to press the "Home" button to start/open the iPad. Is it possible to just "touch" the screen to open it?
iPad, iPadOS 14
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Unfortunately not on the iPad you have. It is possible on the iPad with FaceID - ex. iPad Air 4 and iPad Pro.
What you can do to make the unlocking a little smoother.
Go to
Settings -> Accessibility -> Home Button -> Activate Rest your finger to open.
When you are on the Lock Screen, then you can just rest your fingers on TouchID, without pressing, iPad unlock and go directly to your Home screen. It does not sound like much, but I am glad not to have to press twice.