This capability would be have to be renabled ever each system update, but starting with macOS Sonoma 14.0 there is a file that survives system updates to enable it permanently.
(from post in https://sixcolors.com/post/2023/08/in-macos-sonoma-touch-id-for-sudo-can-survive-updates/)
Open the Terminal app. Navigate to the directory that stores the authentication files by typing the following:
cd /etc/pam.d
Next, copy Apple’s provided template to the actual file that the system will read. You’ll need to use sudo and enter your administrator password to get permission:
sudo cp sudo_local.template sudo_local
Finally, open up the file you just made using your text editor of choice; I prefer pico. You’ll need to use sudo again here.
sudo pico sudo_local
In that file, navigate to the line that contains with pam_tid.so and delete the hashtag (#) at the beginning. Save the file out by pressing Control-X, typing ‘Y’ to save your changes, and hitting Return.