Yes, the TfL system does a partial authorisation. It checks the card is valid and not blocked etc but doesn’t necessarily do a real-time authorisation all the way to the issuing bank.
If you try to use a card that is valid but has no available balance/credit, it might work for the first ride but then be blocked when you try to use it for the return trip.
Fares are batched throughout the day and you are charged once, overnight, for all rides that day (after applying any multi-ride discounts, etc).
This is different from some other cities where I’ve used contactless payments and they’d charge you immediately for each ride, giving you lots of annoying little charges on your bank statement!