Swipe to select
Being able to let touch-input (swipes) automatically switch it over to the selection tool, and have the use of the Apple Pencil always change it back to the previous tool.
Aaron Kleid commented
I would add even tapping with finger should select an object. Concepts app allows finger to be the direct selection "tool" without exiting the tool you're currently using with the pencil. It feels very natural. A shame to only use touch for zoom/pan