Why do PDFs glitch when writing on my iPad?

This happened to me on my last iPad (iPad Pro Gen 2) and has accelerated on my iPad Air M2, but when I write with my Apple Pencil in PDFs saved in my iCloud, the PDF will glitch and take me back to its title page (as if I had just opened the PDF) and erase anything I just wrote. It doesn't happen every time but it happens enough to warrant concern. I'm trying to use it for school and when I have to start annotations or problems over because of this, it's very frustrating. I took to Apple store to meet with a genius and hardware diagnostic came out fine and update was good (18.2.1), so all they could recommend was factory resetting (of course) and hope for the best. That has not worked and PDFs still do this. How can I fix this problem or is this happening to most people with iPads and is a greater issue?

[Re-Titled by Moderator]