Apple Pencil palm rejection problem

When I try to write something with my Apple Pencil it’s sometimes misses the whole stroke and it breaks in between I tried it in different apps like GoodNotes the built-in original Apple notes but the problem is same the battery is full for ipad as well as apple pencil 2nd gen. What is the cause of this problem I’m not sure I have attached a picture in which you can see the missed strokes. it does not happen when I write with my palm not touching the screen does anyone also face the same problem and if you know the solution it would be a great help thanks