False. https://travel.state.gov/content/travel/en/passports/how-app...
My spouse and I renewed our passports in the last 10 years, and got our kids passports for the first time. We did not provide fingerprints.
I am a U.S. citizen. I went through an SF86 clearance in the early 2000s and don't recall even that requiring my fingerprints (but I could be wrong about that). I only recall giving up my fingerprints twice:
1. To unlock my Apple devices, safely locked in a secure enclave. 2. For TSA Pre.