The iPad A16 supports the first generation Apple Pencil and the Apple USB-C Pencil.
The first generation Apple Pencil does support pressure sensitivity - whereas the USB-C Pencil does not support pressure sensitivity. This graphic should help you to understand the differences between the available models of Apple Pencil:

Be sure to note that the different models of Apple Pencil can only be used with compatible models of iPad. Here is Apple's definitive compatibility list for Apple Pencil and iPad:
Apple Pencil compatibility - Apple Support
Note also that many compatible third-party alternatives, such as the Logitech Crayon and Zagg Pencil, also do not support pressure. Pressure sensitivity is also largely dependent upon Apps explicitly supporting this capability.