Can you switch between apps
Why is pencil not Great for navigation?
iPad Air Wi-Fi
In the Settings app, under Apple Pencil, you have the option to toggle OFF “ONLY draw with Apple Pencil”
When you do this, you should be able to use your Pencil for more onscreen navigation tasks.
There are still some onscreen navigation items/features that still need finger input instead of trying to use the Pencil.
Best of Luck to You!