Yubikey can require touch, and Secretive for Apple Secure enclave can require touch with fingerprint id. Some people disable these, it depends exactly on your use case.

You don’t need Secretive, there is actually Apple native way

I put my ssh keys into the Mac’s TPM and now it asks for a password/touch ID when I use it.

Unfortunately I forget what commands I used

yes, but what's to stop a malicious actor from intercepting a signature request and replacing its own contents in place of the legitimate one. yes you would find out when your push was rejected, but that would be a bit late.