I was able to replicate this issue with multiple Apple Pencil and iPad Pro units at the Apple Store, even when Wi-Fi was turned off (which caused one of them to think it was being stolen and make a loud alarm sound, guess it was a first for the employees there who were more than understanding...
Is Monterey 12.1 update the last update for mid 2015 MacBook Pro? Because after updating to Monterey 12.1 I received:
Legacy System Software: Existing software on your system loaded a system extension signed by "Oracle America, Inc." which will be incompatible with a future version of macOS...