Does the Apple Pencil come with warranty?

ervice coverage includes the following:

• Your iPad
• 
  
• Battery3
• Apple Pencil
• Apple‑branded iPad keyboard
• Included USB cable and power adapter

Coverage is available only for iPad, its original included accessories, one compatible Apple Pencil and one compatible Apple-branded iPad keyboard used with your iPad, for protection against (i) batteries that retain less than 80% of their original capacity, and (ii) up to two incidents of accidental damage every 12 months, each incident 

Its all in herehttps://www.apple.com/ie/support/products/ipad/

not sure about your specific question maybe reach out to the AC+ team

Yes, It comes with 1 year warranty as standard

FYI: If you buy an eligible iPad and apple pen at the same time you can buy AC+ for the iPad and it also covers the apple pen at no extra cost