I checked Displays>Advanced and for 'Prevent Automatic Sleeping when the Display is OFF', I have that button 'On', so it should stay awake. After I came back this afternoon after a couple hours, it takes several seconds for the Display to turn on, but as soon as it lights up, the login screen is on and says 'Touch ID or Password'. I tried Touch ID and it didn't work so I had to use the Password to log in.
I have tried both keyboards, deleting them and re-adding. I tried to remove the fingerprints and re-added them. I also entered two different finger prints. None of them solves the issue.
I am going to try Never turning the display off when inactive on the 'Lock Screen' page in settings and see if that works. I don't want that to be the long term solution because it shortens the life of the display but if that works, then I have another data point. So screen saver will kick in after 20 minutes, the display will never turn off, and I will require the password immediately after screen saver turns on.
By the way, I just turned off the keyboard, waited, turned it back on, waited for it to show connected under the Bluetooth tab, then locked the screen. Then only the 'Password' option was available to log in. After logging in, I again immediately locked the screen and then 'Touch ID and Password' came up as login options and Touch ID worked! So turning off the keyboard does re-enable Touch ID but only after you log in with password.
I am still going to try the 'Never' option so the display will never turn off. If that works, then it means something is happening with the computer when the display turns off even though the computer is not set to go to sleep.