Hi, Did you get any solution?

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.

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