This issue has apparently been going on for months, although it recently gained more attention when developer Steve Troughton-Smith tweeted about it. According to Smith, “I’m finding my iPad to be dropping a whole load of touches on iOS 13 systemwide, especially when using resource-intensive apps. A reboot fixes it for a few days. Did something change in touch event routing?, cause this gets pretty bad. I barely made it through this tweet.”
At this point in time, it is unclear as to what might be causing the problem as no one has quite figured out if it is a hardware or software issue. Oddly enough though, Troughton-Smith notes that the iPad seems to be working just fine when using it with the Apple Pencil, even on areas where his fingers aren’t registering, so it doesn’t seem to be a hardware thing.
Some iPad Pro owners have since managed to get their tablets replaced, but it seems to be temporary because it comes back a few months later. That being said, not all iPad Pros are affected, although it would be nice if Apple were to look into this.