If iCloud backup is on does my iPad automatically back up to the iCloud?

Your initial iCloud backup must be triggered manually:

Settings > [Your Name / AppleID] > iCloud Backup >

• iCloud Backup - set to ON
• Tap Back Up Now

After your initial iCloud backup, if configured to backup automatically, the backup will occur without manual intervention. Automatic backup will occur if more than 24 hours have elapsed since the last backup and your iPad is connected to both WiFi and its Power Adapter.

More information:

How to back up your iPhone, iPad, and iPod touch - Apple Support

Click here and see the "Automatically back up with iCloud Backup" section.

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