Apple Pencil Scribble Keyboard not going away

There is a consistent problem with the iPad and the apple pencil scribble feature: when holding your apple pencil or using the scribble feature, if you choose to show your keyboard, it will cause a small keyboard to pop up instead. I don’t think that’s able to change, but the issue is when I put my apple pencil back, the small keyboard still stays. The two finger pinch does not fix, I have no external extensions applied, and the only way to fix this is to turn off the scribble feature and restart the entire ipad. Please fix!