Contributors here are all end-users - just like you. Other than information publicly released by Apple, nobody here has any insight into Apple’s product or software roadmaps.
Full Hover functionally is only available to 2022 models of iPad Pro. The 2021 models of iPad Pro had access to the Accessibility hover functions* with iPadOS 16.1 - enabled from iPad settings:
Settings > Accessibility > Hover Text
https://discussions.apple.com/content/attachment/eaf49ab8-e5cc-4956-8c33-d972d58c22f2
This functionality is documented within the iPad User Guide. Here is a direct link to the associated page of the Guide:
Preview tools and controls with Apple Pencil - Apple Support
Apple do invite submission of comments and feature requests via its Product Feedback portal. If you would like to see full hover functionality or other software features made available to earlier iPad models, this would be the most appropriate channel through which to make a request:
Feedback - iPad - Apple
(*) It is interesting to note that the Accessibility Pencil Hover functions appear to have been suppressed with release of iPadOS 16.2. As such, this implies that access Hover functions, for 2021 and earlier models of iPad Pro may be an imposed software limitation.