Short of completely resetting your iPad, you’ll not be able to re-trigger the initial tutorial - but all is not lost…
The tutorial to which you refer only covers the very basics. All of the information, and more, can be found within these support pages:
Pair Apple Pencil with your iPad - Apple Support
Use Apple Pencil with your iPad - Apple Support
Charge your Apple Pencil and check the battery - Apple Support
This third-party guide may also be of help:
https://www.imore.com/apple-pencil-ultimate-guide
The iPad User Guide is a rich source of frequently overlooked information about your iPad and iPadOS. The Guide is available both online using a web browser (such as Safari), or as an Apple Books download:
iPad User Guide - Apple Support
https://books.apple.com/book/id1567104892
The Tips App, installed by default on all new models of iPad, provides a brief introduction - and leads you to the User Guide. In case you missed it, here is a link to the Tips App:
https://apps.apple.com/gb/app/tips/id1069509450
Apple also has a huge YouTube Channel - containing videos and feature guidance:
https://www.youtube.com/user/Apple