How do I turn off iOS from registering my finger while annotating?
There's a few ways to address this.
In Notes or any similar app you can make app-specific adjustments.  Select the Markup icon at the top of the screen (looks like a pencil tip). That will open the Markup toolbar, usually at the bottom of the screen.


Yes, I know this is not an iPad Pro from 2020 but it's a good picture so I used it anyway.

Tap the 3 dots and turn off 'Draw with finger'.
The other way is to make the change at a global level.  Go to Settings -&gt; Apple Pencil and turn off &quot;Only Draw with Apple Pencil&quot;.