Much of your iPad’s advanced functionality simply won’t work unless a Passcode has been initially set - such as TouchID/FaceID and Keychain stored passwords - and for this reason alone you will likely need to at least have a Passcode set for your iPad. If your iPad supports TouchID or FaceID, don't forget that you can use biometric authentication to access your iPad with minimal friction.
As already strongly advised by Katana-San, disabling your device Passcode is ill advised. However, should you accept the inherent risk, you can effectively remove the need to enter a Passcode to unlock your iPad:
Settings > Display & Brightness > Auto-Lock - set to Never
As documented by Apple in its Security Guide, for devices with TouchID or FaceID enabled, you device Passcode will reportedly always require entry of a Passcode in the following circumstances…
A passcode or password is also required if the device is in any of the following states:
• The device has just been turned on or restarted
• The user has logged out of their Mac account (or hasn’t yet logged in).
• The user hasn’t unlocked their device for more than 48 hours.
• The user hasn’t used their passcode or password to unlock their device for 156 hours (six and a half days), and the user hasn’t used a biometric to unlock their device in
4 hours.
• The device has received a remote lock command
• The user exited power off / Emergency SOS by pressing and holding either volume button and the Sleep/Wake button simultaneously for 2 seconds and then pressing Cancel.
• There were five unsuccessful biometric match attempts (though for usability, the device might offer entering a passcode or password instead of using biometrics after a smaller number of failures).
When Face ID with a mask is enabled on an iPhone, it’s available for the next 6.5 hours after one of the following user actions:
• Successful Face ID match attempt (with or without a mask)
• Device passcode validation
• Device unlock with Apple Watch
Any of these actions extends the period by an additional 6.5 hours when performed.