Wacom has the Cintiq line, which is awesome and allows for drawing on the screen. But it is much more expensive than the iPad.
What Apple seems to have done on purpose is that the Apple Pencil won't draw without a battery, while all Wacom pens are passive, as you probably already know (meaning they don't ever require a battery).
This is another reason why I'm probably moving away from Apple next time. Since you can't remove the battery of the Apple Pencil and it won't draw without a battery, it's designed to eventually fail. And as Apple has shown with the first and the second generation Apple pencil, some Apple Pencil models are only compatible with some tablets. What happens when they decide to discontinue the 1st generation Apple Pencil? Too bad, you can't draw with your iPad anymore, no matter if it is in good condition.
It turns out some people found out you CAN replace the battery if you destroy the case, sold the new battery, and replace the case of the Apple Pencil with a 3D printed one. But it's too much work, and I've only seen a shop in Thailand and another guy in Russia attempting that.
Meanwhile, with Wacom models, we have models that will last for 20+ years. I have myself one of their tablets that is 15+ years old. Yes, it sucks (always has). But it still works flawlessly.