Hey BlueSkies85,
To isolate the issue, we suggest pairing the Apple Pencil to a different iPad if available. If the issue doesn't happen with a different iPad, we've determined that it isn't related to the Apple Pencil.
For testing purposes, make sure no other Bluetooth devices are paired/connected to the iPad. If there are other Bluetooth devices, place them in Airplane mode or turn them off: Use Airplane Mode on your iPhone, iPad, iPod touch, and Apple Watch.
Also, if you have a case on the iPad, remove it and see if that resolves the issue.
Charge your Apple Pencil and check the battery - Please charge your Apple Pencil for 45 minutes even if it’s currently fully charged. Once the time has passed, see if you’re able to use your Apple Pencil with your iPad again.
If you continue to experience the issue, contact Apple Support here: Get Support.
Take care.