My iPad Pro heats up when using the Apple Pencil in Notes and Freeform

First, perhaps understand the Apple Support Community is a user-to-user technical forum. Contributors here are all end-users, just like you. Other than the site Moderators, Apple neither monitor nor participate here.

As such, if you hope to reach Apple through these forums, you will be disappointed.

If you need assistance with an issue affecting your iPad, you would be best advised to seek assistance directly from Apple Support. You can contact the Support Team using the Support link at top-right or bottom-left of this page.

Alternatively, you can initiate and manage your support cases from Apple devices using the excellent Apple Support App. If not already installed, the App can be downloaded from the App Store:

https://apps.apple.com/app/apple-support/id1130498044

You might also visit the Genius Bar at your local Apple Store or Apple Authorised Service Provider (AASP) - where you can both demonstrate the problem and the technicians will be able to test and assess your iPad.

Genius Bar Reservation and Apple Support Options - Apple

This is not normal. Please try and restart the iPad to see if the issues persist. Also make sure that the iPad is updated to the latest version of watchOS