In case this helps anyone else, I’ve found out how to enable Touch ID with the 
sudo command on Mac OS. When enabled, running sudo opens a dialogue prompting 
you to use Touch ID or to activate a button to prompt for your password.

As root, go to /etc/pam.d and change the permissions of the sudo file 
temporarily with
chmod 644 sudo
then run your preferred text editor, and insert the following below the first 
line of the file:
auth       sufficient              pam_tid.so
Then, obviously, save the file and change the permissions back with “chmod 444 
sudo”.
Finally, without exiting the root shell, open another terminal window with 
Command-N and run sudo -i to test it. You can revert the change if it doesn’t 
work as intended (without locking yourself out of root access).

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