I'll second the Apple Pencil Cozy. I orderd one, then immediatelhy lost the cap, before the Cosy arrived. Fourtunately the cozy does a decent (if not perfect) job of acting as a cap.
As for the awkwardness of charging an Apple Pencile from the iPad, I believe this is the best of several choices. It's not the most elegant looking solution, but it does insure that you never have to worry about whether you charged the Pencil or not. If you have it with you, you can use it.