I want to completely erase my iPad. I don’t have Apple ID or iTunes.

The iPad must be tied to an Apple ID it can’t work otherwise.

If you can access the iPad, you can go to Settings->General->Reset->Erase all content and settings.

If you can’t then the only way to erase it is with iTunes or Finder on a PC or Mac.

If may ask for the password for an Apple ID if one is logged in for iCloud and Find My iPad is turned on.

If it was used it was associated with an Apple ID. Did you get this iPad from someone else? If so you will need them to properly remove it from their Apple ID so it can be used by you.