I have used both extensively and in my opinion the Apple Pencil is superior. For any kind of digital art the pencil is way better, but I think that is obvious.
My specific issues with the crayon are as follows:
1. There is no way to know when it is going to run out of power. You can be happily be using it one minute, then the led will flash red and it will be useless. Yes the mechanism for checking the AP charge is clunky, but at least you can check.
2. If the AP does run out you can quickly top it up. (Regardless of how you feel about using the lightning port for this at least you can. With the crayon you need a charger and a cable).
3. The crayon switches itself off without warning and takes time to reconnect when you switch it back on. Not a deal breaker but annoying.
4. It’s not as nice to write with because of the shape (Personal preference I know)
5. In my experience palm recognition is not as good with the crayon. It doesn’t seem to be recognised in the same way as the pencil. I’ve had many instances using the crayon in onenote, procreate and pixelmator when an accidental touch of a finger will cause a stroke on the canvas, but with the pencil it won’t.
I should say that my use of the crayon is on the 2018 iPad (at work as a teacher) and the pencil is on a 10.5 pro (my personal iPad) which may make a difference. But given the choice I would much rather do my marking on my home pro with the pencil. We use OneNote Class Notebooks if anyone is interested.