Done on macOS 10.15.3
This outlines basic instructions on how to make it so that when you run a sudo command, it asks for the touchbar. The only annoying part of this is that it pops up a window instead of just staying in the terminal.
WARNING: If you fuck up this file, you probably won't be able to execute sudo.
So, these lines will need to be at the top of the /etc/pam.d/sudo file.