Apple Pencil for iPad 12.6 - Can I disengage the tap feature?

The tap feature on the iPad pencil drives me crazy! I use the pencil every time I use my iPad to take notes in medical school and if you don’t hold it without touching the tap feature on the flat part of the pencil, it constantly changes to the eraser and then I have to constantly manually tap the tip of the pencil back to the former tool. I would like to place it into a manual mode, to where I choose to change the tool in use by physically tapping the tool bar with the tip of the pencil! I paid a lot for the pencil and some classmates have purchased off brand pencils that have a physical switch on the side to activate or inactivate the pencil. I don’t want to spend more money on a product that should work the way I need it to. Anyone have a solution??