Apple Pencil only mode?

Is there any way to make the iPad or an iPad app work exclusively with the Apple Pencil and *not* recognize touch? My issue is with notability specifically, I basically use the iPad for note-taking and "palm detection" fails a lot. I've tried multiple apps and they all fail at some point given some circumstances, so I was wondering if there's a way to make the app ignore the touch input and work only with the Pencil. I've tried Guided Access but then I can't use the pencil either...