Hey there Kawahine,
You should still be able to use Touch ID to unlock your iPad. Check out this guide with details on what you can do: Set up Touch ID on iPad - Apple Support
If it's not working, let's work through these steps: If Touch ID isn't working on your iPhone or iPad - Apple Support
- "Make sure that you have the latest version of iOS or iPadOS.
- Make sure that your fingers and the Touch ID sensor are clean and dry.* For the Touch ID sensor, use a clean, lint-free cloth to wipe off any dirt or debris.
- Your finger should cover the Touch ID sensor completely, touching the surrounding metal ring. While Touch ID is scanning, you shouldn't tap too quickly or move your finger around.
- If you're using a case or screen protector, make sure it doesn't cover the Touch ID sensor or the surrounding ring.
- Go to Settings > Touch ID & Passcode and make sure that iPhone Unlock or iTunes & App Store is on, and that you've enrolled one or more fingerprints.
- Try enrolling a different finger." (Retrieved from resource linked above)
Keep in mind, there are some situations in which you're required to enter a passcode. Further down the page, you can find more info on that.
With regard to the passcode options, in some cases you can change it to a 4-digit code. The following resource shows you where that's done: Use a passcode with your iPhone, iPad, or iPod touch - Apple Support
To change when your iPad automatically locks, try going to Settings > Display & Brightness > Auto-Lock, then set a length of time.
Take care.