I didn't know about this before I bought an iPad. I recently added a paper-textured screen protector (similar to Paperlike) and now I can't stop using it. I really recommend it for those who have an Apple Pencil - its great
The best one I've tried is the Nilkin brand. As to the Apple pencil, I'm on ~9 months of use and the nib feels the same as the spare that came in the box when I got the pencil so I don't have reason to believe its damaging it