Apple's proprietary Touch Discrimination Sensor decides what touches are important and which ones can be ignored. If your inputs are ignored, it's because they weren't important enough. The system knows what's best and is working as intended.
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you're touching it wrong
Don’t touch it like that, you’ll go blind!
I went 13 pro > 15 pro max and it is also my first time with AOD, I don’t have the behaviors you’re describing. Waking the phone works the same as my 13 (first tap wakes, second tap actions) unless it’s the home bar where I can now directly swipe even if the screen is asleep (underrated feature tbh). I also have no issues with my keyboard. You may have touch issues with your screen, might be worth looking into - do you have a screen protector?
I’ve added a bit of extra context for the AoD unlock. Seems to be something to do with the screen activation animation timing.
Funnily I used to have a screen protector on the 12PM but haven’t gotten around to putting one on the 15PM. It could be that I was more forgiving to the 12PM with the protector as an excuse for non-registered inputs.