Is it possible to set it to NOT require Touch ID for every single password every time?

Not to my knowledge, but if you have a paired watch, it will let you do the double-side-button-click to approve

I've no idea I'm afraid, I've never tried as it's so quick and seamless to use.

On phone it's no issue to use FaceID, but my laptop and desk setup is such that I have to reach my arm over to use it.

Oh, the humanity!