Essentially no. What you are attempting to achieve isn’t possible.
TouchID is not a replacement for the device Passcode. TouchID simplifies unlocking of the the iPad, but knowledge of the associated Passcode is required to be able to validate the user - and/or unlock and use the iPad when TouchID is not available.
Outside of centrally managed Educational environments, iPad (and iPhone) are essentially single-user devices. Beyond documented Parental Control features, multi-level or multi-user User Authentication is not supported.
Additional to Parental Controls, you do have ScreenTime restrictions - which can be used to completely inhibit access to some Apps or services, or provide duration limits for specific Apps.
More information on available ScreenTime and Parental controls can be found here:
Use parental controls on your child's iPhone, iPad and iPod touch – Apple Support
Use Screen Time on your iPhone, iPad or iPod touch – Apple Support
Set up Screen Time for a family member on iPad - Apple Support