Change Apple Pencil (2nd generation) settings
If you have trouble using the gestures for Apple Pencil (2nd generation) on iPad Pro (11-inch) and iPad Pro (12.9-inch) (3rd generation), you can adjust the settings.
Go to Settings > Accessibility > Apple Pencil.
Do any of the following:
Turn off Double Tap Gesture.
Change the duration of the double tap gesture to Slow or Slowest.