Try a hard reset of your iPad by holding down both the Home and sleep/wake buttons simultaneously until your iPad goes to black and restarts with Apple logo, then release the buttons.
If still no joy,
I suggest you search online to locate and call contact your nearest, “local” Apple Store location to try/attempt to make an appointment to get your Apple Pencil diagnosed and possibly replaced with another new Pencil.
OR, failing that,
Contact Apple support via the contact support link located at the upper right hand corner of every Webpage of these Apple support communities.
Use the Device Performance and Connectivity support categories.
OR
by installing and using the Apple Support app found in the iOS App Store.
Tap the iOS App Store link below.
https://apps.apple.com/us/app/apple-support/id1130498044
Best of Luck to You!