Face ID wasn’t going to work on iPhone Duo, so Apple chose Touch ID instead. For those that don’t like Touch ID, Apple Watch will authenticate them automatically.

Apple chose a Touch ID sensor for iPhone Duo since Face ID would have proven difficult
The iPhone Duo is Apple’s first foldable device, which means it can be used opened or closed. Apple couldn’t find a way to make Face ID work in both use cases, so it offered Touch ID instead.
The benefit of Touch ID on a foldable is that it can be authenticated no matter if the device is open or closed, or facing forward or backward. However, some users vastly prefer Face ID for the effortless authentication it can perform by simply looking at the device.
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