Apple Pencil 2 lifts/misses strokes when being used
My Apple Pencil 2 lifts/misses strokes somewhat frequently when I use it for Goodnotes or Procreate. It's especially annoying when I am trying to do something continuous, e.g. use the lasso tool in Goodnotes which gets interrupted and ruins the shape. Sometimes the pencil lifts multiple times per stroke, making certain operations impossible to do.
I noticed that detaching and reattaching the cap for the pencil temporarily prevents this lifting issue, but it only prevents it for around 5-10 mins of use, which I find odd. This is just a workaround, and I want to find a proper solution and where the problem actually is. Could this be an issue with the pencil, or the cap, or the iPad or the application? Thanks for any help!
Restarting the ipad did not fix the issue. The Zoom fix mentioned in most other posts did not fix my issue, as Zoom was already off.
iPad Pro, 16