Nein, erst ab 6. Generation. Auf der offizielle Seite von Apple ist es so erwähnt (in Bezug auf Apple Pen und Logitech Crayon):

No, when the Apple Pencil 1st gen came out, it was intended for the Pro series until in 2018 when Apple announced iPad 6. iPad 6 is the only one in the Original iPad line as of right now that supports the Apple Pencil.

No it doesn’t, due to the pen is only compatible with iPads introduced from 2018, so it starts with the 6th generation .

No, only from the 6th generation or iPad Pro. The iPad must be "pen-compatible