Yeah. Over on the Apple support forums, all the “experts” there say to NEVER let the pencil become completely discharged, or you will end up having to purchase a new one.
Here is an excerpt:
“You cannot store Apple Pencils for any prolonged period of time and NOT keep them charged up to some level.
If your Apple Pencil/s sat around unused or unopened and not kept charged up for more than a few weeks, or so, OR LONGER, then the battery in your Apple Pencil may have failed and is dead and you will have to purchase another brand new Apple Pencil or get, if still under warranty, a free replacement Pencil from Apple.”