Something maybe defective inside of your Pencil.
You need to search online for your nearest, “local” Apple store location and call contact phone numbers and call to make an appointment to have your both Apple iPad and Pencil diagnosed and options presented you.
Failing that,
You need to 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 Hardware Repair, Device Performance and Connedtivity 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
OR
Call contact Apple via the support numbers found in the link bekow.
Contact - How to Contact Us - Apple
Tap the link below.
https://www.apple.com/contact/
If your Pencil is still under its one-year warranty, if your Pencil is damaged somehow, you are entitled to free replacement.
Best of Luck to You!