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I have an Apple Pencil 2 paired with an iPad running iPadOS 14.2. I was able to configure the double tap action in the settings somehow, but I don't know how to do it anymore.

Is this setting hidden?

It's not in the Accessibilities -> Apple Pencil or Apple Pencil in the Settings app. Under Apple Pencil, I can only see Only draw with Apple Pencil, Scribble, and Try Scribble.

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    Restart your iPad then attach the Pencil to the side like you're charging it. Open Settings and see if the double-tap option is there. I have an iPad Pro with 14.2 and I can see the dbl-tap setting. – fsb Dec 2 '20 at 14:11
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Just turn on Bluetooth. I mean fully, not that power saving thing.. If you are in the Settings app maybe you have to restart Settings (close from the recent apps also). This should work.

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I have thesame issue: I have an iPad Pro 129 with Apple Pencil 2. The option was there when when I setup the iPad At the beginning. Then - the day after it's gone. Identical case to teddy's one. thanks for the help. Mike

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