L_Bricker,
Thanks for sharing those additional details with us.
The section below from About Face ID advanced technology may help:
"To use Face ID, you must set up a passcode on your device. You must enter your passcode for additional security validation when:
- The device has just been turned on or restarted.
- The device hasn’t been unlocked for more than 48 hours.
- The passcode hasn’t been used to unlock the device in the last six and a half days and Face ID hasn't unlocked the device in the last 4 hours.
- The device has received a remote lock command.
- After five unsuccessful attempts to match a face.
- After initiating power off/Emergency SOS by pressing and holding either volume button and the side button simultaneously for 2 seconds."
If the iPad Pro is being woken unexpectedly by unintended taps to the screen, this may be what's causing it to prompt for the passcode.
Regards.