Sorry, but there is no way. iOS and iPadOS are very deliberately designed such that once disabled or locked out, the data cannot be recovered, by any means. The only way to make the device useable again requires erasing it.
Erasing a device is the one, and the only mechanism to reset a screen lock passcode when the current passcode is forgotten or entered incorrectly too many times causing disablement or security lockout. That is a deliberate design aspect of the operating system. It is done that way to ensure that no one, no one at all, can gain access to a device with intact data without knowing the screen lock passcode and entering it correctly. It is an operating system design feature that is part of Apple’s commitment to ensuring data privacy and making sure that nobody can gain access to someone else’s device with intact data.
As long as owners are making regular backups, their data should be safe and recoverable once the device is erased and reset. But if someone chooses not to make backups, then data loss is inevitable.
But as is always, always, always the case (with any computing device), backups need to be made and kept updated before something happens. If enabled, iCloud wireless backups are automatic and update once every 24 hours.