on screen keyboard not showing up

Hello, I am currently using an iPad Pro 10.5 with the smart keyboard and there have been some instances where I remove the smart keyboard and the on screen keyboard does not show up at all no matter the app. However the on screen keyboard seems to come back after I double click the home button and exit the app completely, but after a while it just disappears again. I have completely restored this iPad on my computer with iTunes so it is running the latest update to date of writing this (iPad OS 13.1.3). Anyone experiencing anything similar?