Assuming that your Safari settings are configured to use the Separate Tab Bar…
While text shown in the URL/Address field is centre-justified, you can tap anywhere in this field to edit the website address/search clue; as such, if you change your existing conditioned habit of tapping the centre of the field, instead tapping either side, you can completely avoid accidental activation of the “three dot” multitasking button. Similarly, the Separate Tab Bar permits you to easily tap any of your open tabs, including those towards the centre, without triggering multitasking options.
Unlike iPadOS14 and earlier versions, multi-tasking cannot now be disabled from settings. Multi-tasking has received a significant overhaul, both simplifying its use and introducing new controls. Key to accessing and controlling multi-tasking is the small “three-dot” button that is found at the top-centre edge of the screen.
Apple do invite submission of comments and feature requests via its Product Feedback portal. For iPad and iPadOS:
Product Feedback - Apple
More information about using multi-tasking can be found in this support page:
Use multitasking on your iPad - Apple Support