Rotation handle behind tools-popup for selected object - Illustrator for Ipad
When an object is selected and user rotates object 180deg with the rotation handle (handle is down/at bottom whereas default it starts above object) the pop-up with tools/options for the object (opacity, stroke, layer stacking, nudge, trash/delete, etc) is layered above the rotation handle in the UI making it impossible to rotate the object again without using the properties panel.
In light of this, a global suggestion (may not be feasible based on how apple pencil works):
if the pencil can be detected a short distance from touching the display, perhaps show a cursor with contextual clues as to what the user will do when the pencil touches the display. For instance, hover the pencil close to but not on the corner of a selected object and see the "rotate" cursor that shows up in the desktop version when the cursor is placed in that same position.
Do the same for a hover-cursor, show a resize/scale cursor when placed on the object's re-size/scale handles to indicate that a resize or scale operation will be done when the pencil touches the display.