Using pencil to read/scroll

I love reading books on my iPad. I do not love the fingerprints that are left behind on the glass when I scroll. I purchased an Apple Pencil 2 specifically to allow me to scroll while reading, without leaving behind fingerprints. Unfortunately, every time I use the pencil to scroll, I highlight text. I do not want to highlight text, ever. I think this is a bad feature, it has no utility for me, and I want to disable it. How do I turn off highlighting in this app forever?

All I want to do is use the pencil to scroll so that I do not leave behind fingerprints on the glass. Will somebody please give me instructions for how to turn off highlighting in the Books app, so that I can use the pencil to scroll without highlighting text? Thank you very much.