Option 1. Hard restart.

Press the Top Volume button

  1. Press and quickly release the volume up button.
  2. Press and quickly release the volume down button.
  3. Press and hold the top Power button until you see the apple logo appear

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Refer to YouTube video guide https://www.youtube.com/watch?v=nu6U2zcyUYQ

Option 2. FS/Smartalock App restart

This option would only work if Guided Access is disabled and FS/Smartalock app frozen but the iPad itself is still responding.

FrozenKioskScreen.mp4