TouchID

In theory, no. Because you need to use the passcode to add and remove fingerprints. And iPads are resistant to hacking.

Did you have your ipad serviced? Some that have had their screen replaced by non-official places have had issues because to fix the screen correctly the person also has to do something with the fingerprint ID (this is to prevent some bad guy from replacing a screen to defeat the Touch ID)

On the other hand, if your device is jail broken then it could have been exposed because in jailbreaking it the operating system was hacked. Or if you shared your passcode with someone then you gave them permission to do things on the device.

I’m afraid the only option for a fix is to take it into an apple store.

You can try to backup your data and wipe it as if you were selling it, then try to set it up as new. THe problem is I don’t think you can put that backup back onto the device because it may put that unknown to you fingerprint back on.

What to do before you sell, give away, or trade in your iPhone, iPad, or iPod touch - Apple Support

Given all that the Touch ID can unlock there really aren’t any user work arounds for it for obvious reasons. That’s why I’d suggest just taking it to Apple. The only other thing I’d suggest, once you get it fixed, put on at least 2 fingerprints. I only had one, until I had a little gardening accident and messed up my thumb and was like ‘dude, i can’t use this fingerprint for a few days until it heals’, so decided to have at least 2 fingerprints just as a backup (that hopefully you never need to use)

You can scan up to five fingerprints using Touch ID.