After searching long and hard I (couldn’t find one pre made) finally just figured out how to make a shortcut to open the pencil in settings to turn scribble on or off. There are still some web sites that do not recognize that you wish to use the keypad (on screen) when you are in a scribble enabled field without exiting the browser, returning the pencil to the iPad and then opening it again. This short cut is simple and just 2 steps will open the pencil settings sections in the settings app. Turn on or off scribble. I found this in scan down through the article toward the bottom and you will see the list. Use the URL command. I added the shortcut to my Home Screen and widgets. It is also Siri activated.
www.macstories.net

A Comprehensive Guide to All 120+ Settings URLs Supported by iOS and iPadOS 13.1
A few weeks ago, I came across a post on Reddit claiming that Apple had restored the ability to launch specific sections of the Settings app via Shortcuts in iOS and iPadOS 13.1. I was inspired by that discovery to finish working on a project I had long been putting off: documenting all the URLs

Apple Pencil
- Apple Pencil (iPad-only): prefs:root=Pencil.