Touch ID available only after sleep but not when starting the laptop
Yes this is normal behaviour.
Like on an iOS device, Touch ID is unavailable immediately after a restart.


  Note that you must type your password to log in after you start up, restart, or log out





  In some situations, you need to enter your password instead of using Touch ID:
  
  
  If you've just restarted your Mac
  If you've logged out of your user account
  If your fingerprint isn't recognized five times in a row
  If you haven't unlocked your Mac in more than 48 hours 
  If you've just enrolled or deleted fingerprints
  


Use Touch ID on MacBook Pro