Apple Pencil issue (2nd gen)

Hi all! I have a new Apple Pencil (2nd gen)… Works absolutely fine, pairs ok… however when you mount it on the iPad it does not charge wirelessly. It then forgets it and you have to keep plugging it in via usb c… very annoying… anyone have ideas? Pencil isn’t faulty.. have tried two different iPads and issue was the same… one iPad I tried is brand new the other one is 2 years old but all software is up to date… have tried Bluetooth off and on etc