Apple pencil not working properly

I recently bought an iPad 9th generation and an apple pencil 1st generation. From the begging when i write (mostly i use goodnotes but it happens in other apps as well) sometimes it stops writing and its very annoying, most of the time i have to write randomly in another part of the page to make it work and it happens very often. I tried a few things:

-Reconnecting the pencil

-Restarting the iPad

-Restoring the iPad

-Writing without the case

I thought the problem was the apple pencil but it turns out it works perfectly in other devices. Any ideas of what can I do?