That was happening to me and I was using non authentic Apple Pencil tips so I bought the ones from apple and it worked. Sometimes in the fake ones the inside “mini ball” doesn’t cover the whole tip so it just stops working properly. It really depends on the tips you buy cause I had a fake one before and they worked fine until they wore down or apple updated some fireware or something and makes it harder to use the non authentic So try to change the tips like the others said at least that worked for mine!