I dropped my Apple Pencil (2nd Generation) with the tip landing on the floor first. The tip broke off and left a portion of it in the Apple Pencil.

I watch a couple of YouTube videos on how to remove the stuck portion, and I think this video is the best. It uses a pincer to grip on the stuck portion and slowly unscrew it out.

OEM Apple Pencil (2nd Generation) Replacement Tip
OEM Apple Pencil (2nd Generation) Replacement Tip