Q: iPhone 5S touch ID sensor fails pretty often

No that isn't normal. You may want to go to Settings > Touch ID & Passcode and start over by first using "Turn Passcode Off" and then reentering the fingerprint. With earlier versions of iOS people used to enter the same fingerprint multiple times using "Add a fingerprint" in that same area, but later versions have substantially improved and I don't hear of people needing to do that anymore.

Try this I have 2 finger prints one finger & 1 thumb only have to use one.

bsydd uk

Some information in here may help you. iPhone 5s: Using Touch ID