Apple Pencil 2 not staying fully charged when on the iPad

Hi,

In the past few months I've been having an issue where the Apple Pencil 2 will not stay charging for a prolonged period of time.

The device will charge up to 100%, but then after a period of time (as little as 8-10 hours later) the device will no longer stay charging, even when it is still on the side of the iPad. This leads to the Pencil then loosing its battery over a period of roughly 24 hours, which is particularly frustrating as I don't use the Apple Pencil super frequently, so when I come to use it, in apps like Procreate and Nomad Sculpt (which exclusively need to use the Pencil) the battery is almost always dead. It doesn't take long to charge the device, but its enough time for me to go and do something else, blocking the creativity or inspiration I just had.

I never used to have this issue, the device would always be at 100% when I came to use it before, but it recently has not been reliable at being charged when I need it.

I'm wondering if this is a software update that attempts to not keep the Pencil at 100% to avoid battery degrading, but in doing so has left the battery in the Pencil at 0% for prolonged periods of time, which is likely going to be worse for the battery long term. 

This was something that made the second generation Pencil so much better than the first, was the removal of consciously needing to charge the device, but this bug/feature seems to have removed that!

I've tried: cleaning the Pencil and charger, factory reseting the iPad and restoring from a backup, reseting network connections and looking through the Settings app to see if there are any options that might affect this. All with no luck.

Extra information:

Devices: iPad Air 4th Gen, Apple Pencil 2 (Purchased together, brand new from Apple.com in September of 2021)

I started noticing the issue about 2-3 months ago.

The Pencil and iPad work perfectly fine otherwise, fully functional to my knowledge.

I'm wondering if this is a software update that was rolled out unknowingly and if other people have the same issue as me? Thank you!

Image of the Pencil on the side of the iPad, but not charging roughly 10 hours after being reattached to the iPad (and charged to 100%, now having fallen to roughly 55%):