Having purchased an USB-C to Lighting adapter from the Apple Store in Bristol to connect a first generation Apple Pencil to a 10th generation iPad, I think there might be a problem with the pencil.
It seems to be failing to hold a charge, despite being connected and fast charging from the 10th generation iPad.
Reading the web it looks like that as I haven’t used the pencil in a while, the battery has died.
Currently I have it connected to an older iPad with a lightning port, hoping it will charge.