The general idea is to edit the Pluggable Authentication Module (PAM) daemon sudo config file, and add the Touch ID module as the first type of authentication presented.
Create a script (preferred)
Several tutorials exist online explaining how to edit the PAM sudo file manually, which I also explain later in this post. However, I noticed after every time MacOS is updated, I need to reapply the fix. So, I decided to write a script to automate the process. This way, after updating MacOS, I simply execute my script.