I am unable to set up Touch ID on my iPad

If an iPad screen is changed, key functions (such as TouchID/FaceID) will be disabled. iPad screens are serialised - and must be re-integrated using specialist software only available to Apple Technicians at an Authorised Service Provider.

Given your description, I must assume that you have had your screen changed by a third-party repairer. Apple OEM parts are not available outside of Apple's own network of authorised repairers - and as such the screen will either be a non-original part, or a previously used OEM part scavenged from a broken iPad. Either way, the screen will not be properly integrated with the iPad hardware.

Using a third-party repairer also forfeits ongoing hardware support by Apple.

If your iPad was actually repaired by Apple or an AASP, you'll need to seek assistance from the Apple Store or AASP that processed the repair.

kinvorio wrote:

I have tried resetting the iPad’s settings, the software is all up to date, I have also restarted the iPad to no avail.

If you have tried the above steps already, consider these additional steps:

• Make sure 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.

kinvorio wrote:

This iPad has recently had its screen replaced so it is possible this is due to that!

If the screen replacement was not done properly, it could have damaged the sensor.

• Try enrolling a different finger.

If the previous steps didn't help, take your device to an Apple Retail Store or Apple Authorised Service Provider, or contact Apple Support

Find the full information in this article: If Touch ID isn't working on your iPhone or iPad - Apple Support (IE)