Apple Pencil v2 is always dead when I'm ready to use it

It is generally recommended that a second generation Apple Pencil should be kept docked with the iPad when not in use - as this should ensure that the tiny internal battery is kept optimally charged when not in use. Charging only occurs when the battery requires charge from the iPad, optimal charge being entirely automatic.

Keeping the Pencil separated from the iPad when unused risks allowing its battery to discharge; if allowed to remain in this state, the battery will suffer irreparable damage. When the battery fails, the only remedy is to replace the entire Pencil; the battery is not a serviceable item.

Charge your Apple Pencil and check the battery - Apple Support

As described, you appear to have a problem with either the iPad, or the Pencil. Both are potentially implicated by the charging behaviour that you describe.

Try a forced-restart of the iPad may result- as this will often resolve an isolated software issue:

Force restart iPad (models with Face ID or with Touch ID in the top button)

If your iPad doesn’t have the Home button, do the following:

1. Press and quickly release the volume button nearest to the top button.
2. Press and quickly release the volume button farthest from the top button.
3. Press and hold the top button.
4. When the Apple logo appears, release the top button.

If you continue to experience difficulties, you might be best advised to seek assistance directly from Apple Support. You can contact the Support Team using the Support link at top-right or bottom-left of this page. Alternatively, you can initiate and manage your support cases from Apple devices using the excellent Apple Support App. If not already installed, the App can be downloaded from the App Store:

https://apps.apple.com/app/apple-support/id1130498044

You might also visit the Genius Bar at your local Apple Store or Apple Authorised Service Provider (AASP) - where the technicians will be able to test and assess your iPad and Pencil:

Genius Bar Reservation and Apple Support Options - Apple

As already suggested, if you continue to experience difficulties, you might be best advised to seek assistance directly from Apple Support. You can contact the Support Team using the Support link at top-right or bottom-left of this page. Alternatively, you can initiate and manage your support cases from Apple devices using the excellent Apple Support App. If not already installed, the App can be downloaded from the App Store:

https://apps.apple.com/app/apple-support/id1130498044

You might also visit the Genius Bar at your local Apple Store or Apple Authorised Service Provider (AASP) - where the technicians will be able to test and assess your iPad and Pencil:

Genius Bar Reservation and Apple Support Options - Apple

Hopefully your replacement Pencil will resolve the problem.

Remember to keep the Pencil docked with the iPad whenever the Pencil is not being actively used - as this will protect is battery by keeping it optimally charged.