How to stop my Apple Pencil Pro from becoming laggy in third party apps on my iPad Air?

I just purchased a new iPad Air and apple pencil pro. My pencil begins lagging often and I have to restart the iPad to get it back up to speed. It lags in GoodNotes really bad, as well as in some games. Restarting usually fixes the issue, but gets really annoying to have to restart my ipad multiple times a day.

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