Copying a good fingerprint from a dead finger or a randomly placed print is not easy [2]. It's hard, doable but you get 5 tries so if you screw up, you have thrown away all the hard work of the print transfer.
All bets are off if the iPhone is power-cycled. Best bet if you're pulled over by authorities or at a security checkpoint is to turn off your iPhone (and have a strong alphanumeric passcode).
[1] https://xkcd.com/538/ [2] https://blog.lookout.com/blog/2013/09/23/why-i-hacked-apples...