Hey Koning,
Let's try the following steps below to help us isolate the issue:
1) Make sure the Apple Pencil is fully charged
2) Restart both iPad devices with an issue: Restart your iPad - Apple Support
3) Remove any cases or other accessories attached to the iPad and try again
4) Test if the issue persist with Only Draw with Apple Pencil enabled
5) Unpair and pair the Apple Pencil and test it again
6) Check to see if this happens only on certain parts of the iPad screen of if it's anywhere on the screen
7) Make sure the Apple Pencil Tip is securely tightened and then try again
8) If you have another Apple Pencil available, try it with another one
9) See if it only happens with one specific Note or all Notes. Also check if it has a delay in other apps.
10) Try with a new tip as they do wear out: Apple Pencil Tips - 4 pack - Apple
Let us know the results after you've tried all these steps above!
Best regards.