Touchscreen and Apple Pencil issues on iPad after Face ID unlock

I pulled out my iPad from my bag and when the screen turned on and unlocked with my Face ID, I swiped up to open the iPad. But then, my finger wasn't registering. The touchscreen was not working no matter where I pressed, so I rebooted it with the switches and now it works fine. Then, I opened Goodnotes and started to write with my apple pencil, but it did not work either. There is a little dot that appears on the screen when I hover the pencil over it, so I know they are both not broken. The pencil only works if I press it hard and at a right angle to the iPad. This has not happened before, and the iPad has not been dropped or anything like that.

[Re-Titled by Moderator]