Apple Pencil 2nd Generation Pickup/Raise Issue

Hi, I have an iPad Pro 12.9in 6th gen (latest OS version) that I use with a 2nd gen Apple Pencil. All features seem to run fine, except for picking up the pen.

It usually works, and has worked enough in the past to not notice, but now it's very annoying. (occuring every 2-3 words written) Sometimes when picking up the pen between letters, the device doesn't register it, and continues drawing a line to where I set down the pencil again. When this happens, it doesn't keep drawing either, it just "teleports" to where I set down the pencil, instantaneously drawing a straight line between the two points, and requires me to go back and rewrite the letters or word so they're legible.

I'll raise the pen a reasonable amount off the screen, but the issue persists. Unless I write unnaturally slow, I can't find a solution. I don't believe it's a pressure issue, since tools that make use of the pressure sensor still seem to work fine. Wiping off the screen and pen tip doesn't change anything. Any ideas or solutions would be greatly appreciated.