Not exactly. It claims to work with any USB-C ipad. so Gen 1 and Gen 2 ipads of all models if that ANY USB-C ipad claim holds true............
That 'fork' between iPads was always kind of silly
Apple Pencil compatibility - Apple Support
Find out which Apple Pencil works with which iPad.
Not really a good reason why the Pencil 1 couldn't have also worked with the newer wireless charging iPads. After Apple released a USB-C to Lighting adapter for the Pencil 1 it made even less sense. ( Could pair over the USB port with the adapter if that was provisioned with the drivers. ) . It was like the wirless Apple mouse only working with a subset of Macs. It is a peripheral for the line up .... why is it limited?
Going forward since all the new iPads will have USB-C ... it makes tons of sense a 'more affordable' pencil that works across all of them. Actually getting back to where Pencil 1 was shortly before Pencil 2 popped up and split the iPads.