I continue to use matte screen protectors on all of my iPads that I use the Apple Pencil on. I use it not only for the resistance it offers to improve the Pencil experience, but it also eliminates glare from the screen, and offers LESS resistance when using fingertips.
For those reasons, I find a matte protector to be essential. I've tried going back to a bare screen occasionally, and I find myself always going back to one.
The only exception is my Galaxy Tab S6. Screen protectors interfere with the in-screen touch ID and the tip of the S-Pen already offers paper-like resistance which is nice. The screen coating does a good job of masking fingerprint smudges. It's nice to not have any protection on that beautiful screen.
That’s what I’ve always used as well. I have one perfectly installed and its a pain (at least for me) to get them on just right with no bubbles or crooked, etc. I’ll probably just keep it on until its time for a new one and then try it without one on.