Why does my Apple Pencil write before or after touching the screen in certain apps?

Why is it that the Apple Pencil begins to write before or after it actually touches the screen? It starts to write when the pencil tip is hovering above the screen, some tenths of a millimeter, but that's sufficient to make my writing pretty bad. On many letters, I make small tails by accident because when I pull the pencil away, it's still writing.

Please note this exists only in some applications, and is almost fixed in Apple Notes or Apple Freeforms.

Notes don't provide the infinite canvas, and Freeforms has a lot of problems with performance and losing written diagrams. So, I'd like to switch to alternate applications like Concepts which has this problem not solved.

Can anybody find out what to do with this issue?

I see a bunch of discussions on the internet that changing tips or replacing iPencil doesn't help.

[Re-Titled by Moderator]