It is kind of amazing to me that Apple does what they do in circumstances like these. They make amazing stuff but when an issue comes up with their designs they tend to burry their head in the sand and keep repeating the mistake until they are called out enough they can't ignore it anymore and then change the design.I have the same issue with my 2018 iPad Pro 12’9 and just discovered this discussion.
It baffles me too but after some poor experience with Apple support I never tried to get the pencil/iPad replaced.
I even remember walking in an Apple Store in December 2018 and all iPad Pro had scratches from the pencil.
All it would take is to change the Pencil design. A cheap fix for them would to make a soft rubberized coating on the outer layer of the pencil not the tip. Make it thicker so that hole where the magnet is exposed can't ever touch the iPad and the softer rubber would protect the iPad finish. I can't imagine it would cost that much to do and would solve the issue in the least expensive way possible.
Another idea that would benefit everyone is to come up with a hardened anodized coating like Samsung uses their Aluminum Armor. Either one of these solutions would be a pretty easy fix and add a nominal cost at production and would solve an issue that has been going on for some time.