Disconnect the touchID sensor and ipad should work fine. Do it in some local repair shop.

same issue with iPad 6 , was perfectly fine till iPadOS 15.4. I think there is a bug from iPadOS 15.5 onwards for iPad 6th gen. Tried restoring with iPadOS 15.6.1 and 15.7 but every time ended up with error 4042.

Hi, Did you get any solution?