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I think the Apple Pencil 2 is only supported with the Gen 3/4 iPad Pro’s. And the Apple Pencil 1 is supported by all iPads. You can also take a look at Logitech, they have the Logitech Crayon. Which I think is supported by all iPads.
About the iPhone support, I don’t think any pen is iPhone supported. But I might be wrong..
RE: Should You Get An Apple Pencil For Your iPad ?