Issues with iPadOS updates and Kiosk mode

The latest iPadOS updates are causing issues with our 30+ iPads running Kiosk mode locked to a single app, due to security requirements we are using Microsoft Endpoint/Intune to force the latest iPadOS update to install as soon as they come out.

Once the iPad updates and reboots, the Welcome screen comes up every single time. As the iPad is in Kiosk mode, swipe gestures and the home button are disabled, so because of that all of the iPads get soft locked on the Welcome screen.

One solution is to remove Kiosk mode from the iPads, but if we do this the needed app doesn't start automatically (in this case it's a visitor sign-in app so it prevents the screen from locking/timing out) so if an employee at the site doesn't manually start it, the screen times out and then they think the iPad is turned off because it's enclosed within a case that hides the home and power button.

This only started becoming an issue within the past month or so, is anyone else dealing with this issue and if so do you have any workarounds?