First, perhaps understand the Apple Support Community is a user-to-user technical forum. Contributors here are all end-users, just like you. Other than the site Moderators, Apple neither monitor nor participate here. As such, if you hope to reach Apple through these forums, you will be disappointed.
Other than my participating within the Apple Support Community, I have no affiliation with Apple. Along with other contributors here, I have no influence or input whatsoever to Apple's hardware or software implementation.
That said, I do have considerable technical knowledge of advanced authentication systems and system security. My prior comments are intended to offer summary insight as to why some features of authentication may be as they appear.
I have also offered advice concerning the possibility that your iPad has fault requiring diagnostic intervention - and suggested that you seek assistance directly from Apple. Similarly, a link to Apple's Product Feedback portal has been provided. If you would like your requirements or comments to be considered by Apple's Developers, this would be the channel through which to direct your comments, request or complaint.
Setting aside the above - and entertaining the possibility of a software issue - try a forced-restart of your iPad. A forced-restart will often clear an isolated software problem:
Force restart iPad (models with Face ID or with Touch ID in the top button)
If your iPad doesn’t have the Home button, do the following:
- Press and quickly release the volume button nearest to the top button.
- Press and quickly release the volume button farthest from the top button.
- Press and hold the top button.
- When the Apple logo appears, release the top button.

Force restart iPad (models with the Home button)
Press and hold the top button and the Home button at the same time. When the Apple logo appears, release both buttons.

If the problem persists after performing the restart, it may be necessary to reset your iPad settings. While this reset will not cause any loss of data, as a precaution, it is always wise to ensure that you have a current iCloud or iTunes backup before performing the reset:
How to back up your iPhone, iPad, and iPod touch - Apple Support
When you are happy to proceed, you can perform the reset from iPad settings:
Settings > General > Transfer or Reset iPad > Reset > Reset All Settings
If the problem still doesn’t clear, the next step is to reset the iPad to factory settings:
Restore your iPhone, iPad, or iPod to factory settings - Apple Support
Otherwise, you would still be well to advised to seek assistance directly from Apple Support. You can contact the Support Team using the Support link at top-right or bottom-left of this page, or by using the excellent Apple Support App. If needed, the App can be downloaded from the App Store:
https://apps.apple.com/app/apple-support/id1130498044
You might also visit the Genius Bar at your local Apple Store or Apple Authorised Service Provider (AASP) - where the technicians will be able to test and assess your iPad and its TouchID sensor. If repair is required, you will be in the best possible place to explore your available options for remedy:
Genius Bar Reservation and Apple Support Options - Apple