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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.

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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.

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