My ultrasonic sensor on my Galaxy S10 is absolute garbage compared to Face ID on iPhones. It works 1/3 of the time and it's slow.
Realistically ultrasonic is the technology Apple would go with, considering how lighting up a patch of screen is just... Ugly.
There's another problem: FP sensors don't cover the entire display. There's a huge learning curve -- getting used to where that small patch of screen is -- and even today, months after getting my new device, I miss often.
We're only now having issues with FaceID because we're wearing masks all the time. It's intuitive and it "just works".