It has never been possible to change that setting. The setting you can change is how long the phone waits before the screen locks.
If you carry your phone in your pocket most likely contact with your skin (possibly through fabric) probably entered the wrong passcode several times.
If you routinely carry your phone in your pocket (not a good idea for a ~$1,000 piece of delicate electronics unless it is in a protective case) you need to do 2 things:
(1)Go to Settings/FaceID & Passcode and turn off Raise to Wake.
(2)Put the phone in your pocket with the BACK against your body so skin contact doesn’t activate it. This may seem counterintuitive, but it is more important to protect the back than the front; a screen can be replaced, but if the back glass breaks the whole phone must be replaced.