My Apple Pencil is not showing up on Bluetooth (gen 2)

I just had this issue. The apple pencil randomly disconnected from my iPad and I couldn't get it to connect. I tried forgetting the device and connecting it again. Unfortunately after forgetting, it completely disappeared from my device list. I tried restarting iPad - it didn't help. BUT:

Whenever I would take the Apple Pencil 2 away from the side of the iPad and then put it back on its charging spot the iPad showed apple pencil icon on the top of the screen (without battery though).

I randomly tried holding my finger on it - it connected the Apple Pencil 2 back to my device.

Which iPad do you have? What happens when you attempt to ➔ Pair the Apple Pencil 2nd generation with your ipad? More details from you are needed. Thanks.

Axel F.