Same issue here. iPad Pro 12.9” (2020) on iPad OS 13.5.1
Have tried everything, issue persists every 3-7 days.
Have a case ID and they asked me to restore the iPad to factory settings, which I did, and it didn’t (no sureprise) solve the issue. Have a call scheduled on Thursday with them. Cannot get down to a store so if I have to replace will be a long wait...