Apple Pencil spontaneously cuts out

After maybe 2 years of flawless operation, my Apple Pencil has suddenly begun to randomly cut out/stop being connected. Plugging it back in lightning port of iPad temporarily fixes it, but then it will randomly cut out again. Here's the oimportant clue: I have two pencils because I need to keep one charged all the time (yes, heavy work load). And both exhibit the same behavior, so yeh, I think it has to do with last IOS update. I just don't know what to do to fix and its a huge negative time suck for me. Help, Apple!