On an iPad with a Home button, iPad (10th generation and later), iPad Air (4th generation and later), iPad mini (6th generation), or iPad mini (A17 Pro), you can use Touch ID to securely and conveniently > Touch ID & Passcode, then turn on options below Use Touch ID For.
You can add multiple fingerprints (both of your thumbs and forefingers, for example).
Go to Settings Change when iPad automatically locks