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Taken from: https://dev.to/siddhantkcode/enable-touch-id-authentication-for-sudo-on-macos-sonoma-14x-4d28

Steps to Enable Touch ID for sudo

1. Create and Edit the Configuration File Create a new configuration file based on the template provided in macOS Sonoma.

   sudo cp /etc/pam.d/sudo_local.template /etc/pam.d/sudo_local
   

2. Edit the newly created file with your preferred text editor:

sudo vim /etc/pam.d/sudo_local

1. In the file, locate the following line, Uncomment it by removing the #:

- #auth       sufficient     pam_tid.so
+ auth       sufficient     pam_tid.so

1. Confirm the Operation Open a new terminal session and run a sudo command to test the setup:

sudo ls