Apple Pencil is unresponsive on my iPad 10th Gen

I've restarted my 10th-gen iPad, unpaired and repaired the pen, and connected it with the right adapter. The pen shows 100% charge, is recognized by the iPad, and appears on the battery widget. However, it's unresponsive. I've tried unscrewing and rescrewing the tip. My pen used to work, but there are times when it doesn't. How can I fix this issue?

[Re-titled by Moderator]