Apple Pencel A2051 no HOVER Function on setting

Full Hover functionally is only available to 2022 models of iPad Pro. The 2021 models of iPad Pro only have access to the Accessibility hover functions* - as enabled from iPad settings:

Settings > Accessibility > Hover Text

This functionality is documented within the iPad User Guide. Here is a direct link to the associated page of the Guide:

Preview tools and controls with Apple Pencil - Apple Support

Apple do invite submission of comments and feature requests via its Product Feedback portal. If you would like to see full hover functionality or other software features made available to earlier iPad models, this would be the most appropriate channel through which to make a request:

Feedback - iPad - Apple

(*) It is interesting to note that the Accessibility Pencil Hover functions appear to have been suppressed with release of iPadOS 16.2. As such, this implies that access Hover functions, for 2021 models of iPad Pro, are purely an imposed software limitation.

Hello

The hover feature is not supported on the 5th generation iPad Pro. It requires an 11" (4th generation) or a 12.9" (6th generation) or later.

It has nothing to do with the Pencil, the feature is innate to the iPad. It's a feature I'd find useful too, but I can't afford to replace my iPad just yet.

Preview Tools or Controls with Hover