iPad stuck in a bootloop-ish loop

As described, your iPad battery may have a fault. These support pages should help with troubleshooting:

Charge and monitor the iPad battery - Apple Support

If your iPad won't charge – Apple Support

Troubleshooting generally requires substitution of the Power Adapter and cable for another known-good item.

If you continue to experience difficulties, you might be best advised to first seek assistance directly from from Apple Support - and request a remote diagnostic test. You can contact the Support Team using the Get Support link at top-right of this page. Alternatively, you can initiate and manage your support cases using the excellent Apple Support App. If not already installed on your iPad, the App can be downloaded from the App Store:

https://apps.apple.com/gb/app/apple-support/id1130498044

You might also visit the Genius Bar at your local Apple Store or Apple Authorised Service Provider (AASP) - where the technicians will be able to test and assess your iPad, Power Adapter and cable(s):

Genius Bar Reservation and Apple Support Options - Apple

If the battery truly drained to 100% discharged, then it’s not a software issue. You need to get the battery replaced. Letting a depleted LiOH battery sit and drain fully will always kill it.