iPad touchscreen while using sidecar

I have an iPad set up to use sidecar with my Macbook pro and it connects fine and i can use the black buttons on the side bar fine but it won't let me use the touchscreen on the actual apps open on the iPad unless i use apple pencil? i am getting by with using the pencil whenever i need to interact with apps on the iPad but as i go from typing on mac to needing to tap the iPad screen very regularly its a hassle to keep picking up and putting the pencil down every time just to tap the iPad screen. Is there any way i can make the whole of the iPad touch screen so it will respond to my finger touch or is this not possible? Thank you!