how do I turn off “you need to unlock your iPhone first“

I want my phone to do things without me having to unlock it first.

Then, you need to remove the passcode requirement on the phone.

Settings > Face ID & Passcode > Turn Passcode Off

But....when you do this.....anyone who picks up the phone will have complete access to everything on your phone, including the ability to set up a different Apple ID and Password, locking you out of your own phone.

I would never do this, but it's your call.

It's your phone and I suppose you can do as you want, but in order to do this you'd have to make your phone completely vulnerable to theft and loss of data. You'd have to turn off Face ID and Passcode. You'd have to turn off Find My. And in doing this, if you ever lose your phone, whoever takes or finds your phone, will have access to all of your data, including having the option to use it to pay for things and/or completely wipe the phone for them to use.

This is just not recommended.