Apple Pencil 1 vs 2

Dear Lanco

For me, the Apple Pencil 1 for iPad Mini 5 works but it behaves like a finger when the select tool is chosen:
DFD54CBB-FC83-4BEC-9FC3-AA89B6D0859F

Drag = Scroll document
Tap + Hold = Select

With Apple Pencil 2 on iPad Pro 2018, the behaviour is correct:

Drag = Select
Tap + Hold = Highlight instead of Select

Can the Apple Pencil 1 on iPad Mini 5 be changed to the correct behaviour please?

Kind regards,

Jun