I think I may finally have got to the bottom of the specific problems that I have been experiencing. I now do not think that it is an iPadOS problem (sorry for maligning it), but an issue with a rogue device creating a WiFi network that grossly interferes with the network created by my WiFi access points.
That device in my case is a SkyQ satellite TV box. The SkyQ system was introduced by Sky TV here in the UK (maybe also in some other territories?) in 2016. It has many features but one of the key ones is the ability to have Sky Q Mini boxes elsewhere in the house that connect back to the main box using WiFi. In order for this to operate the main box broadcasts a WiFi network.
Unfortunately this WiFi network is notorious for not playing well with other WiFi networks. It interferes because it transmits a very broad 80MHz signal (for maximum throughput) which saturates the bands which other devices use. The effect of this is that the connection for other devices to their network drops from time to time and has to be re-established. Why exactly this happens I don't know, particularly as I do not have any mini boxes in my house - maybe the main box broadcasts a signal from time to time to see if there is anything else out there (pure speculation on my part)?
It is possible to switch off the WiFi signal through a hidden function in the SkyQ boxes settings - navigate to settings and when the highlight is sitting on Settings (before pressing select) type 001 and then press select. That takes you into a hidden menu where you can disable the WiFi. Unfortunately this apparently disables the whole WiFi functionality, not just broadcast, so if the box is connected to the router using a WiFi connection this will be disabled and you must use ethernet for that connection. Not a problem for me as I use ethernet (much better of course) anyway.
The end result of disabling the SkyQ WiFi is that my problems have magically gone away, and for the first time for a long while internet access from my iPads seems to be back to normal with no interruptions.
I wish I had worked this out sooner, but partly because I don't use any of the WiFi functionality of my SkyQ box (no mini boxes, ethernet backhaul) it just didn't occur to me that it could be the problem.
I therefore suggest that anyone experiencing similar problems looks into the possibility of interference with the operation of their WiFi network, with the SkyQ box (or similar) foremost as a possibility if you have one installed.