You can try several tricks that worked for me over the years may be it can work now.
1. Please check the compatibility with the iPad. You can check the Apple Pencil Pro compatibility
here.
2. Toggle off and Toggle on Bluetooth on your iPad. It will fix the temporary issues connecting with your Apple Pencil Pro. Also, try the forget device option!
3. Enable Scribble mode on your Apple Pencil Pro. It will test your Apple Pencil thoroughly and improve the compatibility with other apps and features.
Try these fixes, and let me know if that works for you!