@MikeyMM: If the phone is locked, then requesting to connect to Bluetooth will require the device to be unlocked first of all. If you have Biometrics set up as part of your Lock screen security, then this is why it is requesting a fingerprint scan.
Bixby will be able to perform the majority of tasks that you'll need while driving via a vocal command, however I do recommend connecting to your car's Bluetooth manually prior to setting off.
