There is a distinction between a simple “tap” and a “long touch” - these being different gestures for the touch-based User Interface (UI) employed by iOS/iPadOS.
What you are seeing is the long-touch gesture - which, when triggered, opens both a preview of an embedded link and an Action Menu.
It is possible (although not recommended) to inhibit the preview function by globally disabling Multitasking on your iPad - but this effectively neuters much of the advanced functionality of your iPad:
Settings > Home Screen & Dock > Multi Tasking >
- Allow Multiple Apps - set to OFF
- Gestures - set to OFF