Apple Pencil Issues

When writing with the Apple Pencil (1st gen) on my iPad Pro 10.5" (2017), I encounter this weird issue where it seems to glitch. When writing, the strokes will all the sudden become choppy, wavy, or somewhat broken. It will also sometimes miss strokes. When this happens, it makes handwriting unreadable and is quite annoying. It seems to happen randomly, and I cannot fix it when it happens. It seems to come and go as it pleases. It used to not be so bad/often, but now it happens every few minutes and during times when I need it most. Does anyone know how to fix this?

Please keep in mind, the only app I pretty much use with the Pencil is Notability. Although I have used the pen for other activities outside of that app and have noticed the Pencil acting weird, I do not use it enough in other apps to know if there's an actual difference. Notability has a built in palm detection setting that is enabled, but seeing as it works great for a minute then becomes completely unusable the next, I doubt it is the app setting. Also, the glitch sometimes has a correlation to whatever surface the iPad is currently laying on. For instance, it is more likely to glitch when laying on a glass table than on a wooden table.

This is my second Apple Pencil with the same iPad. I remember the iPad glitching a little with the first Apple Pencil, but it is definitely moreso with the current Pencil. I have considered it being an issue with the Bluetooth, but I have not had any issues with other Bluetooth devices (speakers, computers, etcetera). In addition,

I have tried charging the Pencil, reconnecting with the iPad, restarting the iPad, and tightening/changing the nib on the end of the Pencil. Nothing seems to help.

Any suggestions are helpful. I use the Pencil quite a lot and have been irritated with this issue for quite a while.