Hi

You can get the program Rufus which Troypoint recommends in the Apple store so I assume as long as you can connect the USB drive to your iPad you will be able to format it to Fat32 using the guide
https://troypointinsider.com/t/how-to-format-usb-drive-to-fat32-on-windows-pc-and-mac-computers/6767
there are some guides online specifically for iPads if you search