My apple pencil (gen 2) is paired to my ipad pro (gen 3) but I dont have the double tap option in the pencil menu.
The Apple Pencil menu is not displaying the double tap menu.
iPad Pro, iPadOS 15
When I first went to the Apple Pencil in Settings, I did not see that either, but I believe that is because the Pencil was asleep. I created a new Note to test the Pencil, and when I went back to Apple Pencil in Settings, the Double-tap settings appeared. I would try docking the Pencil and then going back to Settings.