No.
Your iPad, probably, does NOT havd enough free internal data storage space.
During the Software Update download process, the download and install process can eat up close to double the file size of the initial iOS/iPadOS upgrade/update file size.
In addition, your iPad model maybe too far behind in iOS/iPadOS upgrades/updates.
Can you, please, confirm what year and model iPad you have/own?
The “A” model number can be found on the aluminium back of your iPad, in small print, right under the larger bold print “iPad”.
What iOS/iPadOS version is this iPad, currently, running?
What is the rated, internal data storage space/capacity of your iPad model and how much of this free, internal data storage capacity is left inside of your iPad model?
All of that additional info can be found in the Settings app, General settings panel, About.
Please attempt to answer all questions asked.
Thank You.