Use your favorite text editor and open the file
/etc/pam.d/sudo
and add the following line
auth sufficient pam_tid.so
below the pam_smartcard.so
line as shown below and then save the file.
auth sufficient pam_smartcard.so
auth sufficient pam_tid.so
auth required pam_opendirectory.so
account required pam_permit.so
password required pam_deny.so
session required pam_permit.so
Use TouchID to Authenticate sudo on macOS