Apple Pencil Pro does not pair with iPad Pro M4

Hello, I’m having trouble pairing my Apple Pencil Pro to my iPad Pro M4 13inch. It simply does not connect. Has anyone found a way for this to work? Is this a firmware issue? It just simply stopped working. I would connect the pencil magnetically, and I see an animation appear, and it hangs for a little bit but does not connect. I checked the Bluetooth settings, and it does not appear in the devices list.

Any help would be greatly appreciated.

Thank you!