Hi, you will need to find out was was latest, working iOS version. In my case it was 15.6.1.
In Apple Configurator (or in iTunes) I found my old firmware file - iPad_64bit_TouchID_ASTC_15.6.1_19G82_Restore.ipsw
You can find it (as long you did use Apple Configurator to upgrade your iOS before) using the following path ~/Library/Group Containers/K36BKF7T3D.group.com.apple.configurator/Library/Caches/Firmware/
Then, before you click on restore (press and hold "Alt" on Mac), then you have option to point to that ipsw file.
When I did it - it threw an error, but ipads became responsible (I had 2 ipads with same issue).
On the other note, I noticed that Apple Configurator, tried to use newer ipsw file: iPad_64bit_TouchID_ASTC_16.1_20B82_Restore.ipsw which I assume should never happened as it looks iOS 16 does not support my iPads. Obviously Apple Configurator, should never allow it to happened as initial check should prevent any attempt to download and install unsupported iOS.
Hope, this solution works for you. Luckily, my two iPads are ok now.