The “tap” part usually is unnecessarry as the Xr wakes up the screen when it detects it’s been picked up. I say “usually” because it does depend on what position it’s in before picking up, but in about 90% of the cases I’ve experienced, it wakes up the screen automatically. But even tapping for the other 10% really is no big deal as I usually have the phone in my hand anyway and will need to swipe up shortly after.
“Look at the screen”, why would you pick up your phone and want to unlock it if you don’t look at the screen?
So that leaves a single swiping up action, which is as easy, if not easier, than resting your finger on the TouchID sensor.
Based on what I said above, I actually find FaceID faster and simpler than unlocking with TouchID. FaceID almost always recognizes me before I swipe up. I’m saying all this as a TouchID fan for the last 4+ years. Nothing wrong with TouchID, except the whole wet finger thing, I just found FaceID very seamless in the last couple weeks I’ve used it as a primary phone.
The exception is if I want to unlock without picking up the phone, which is a corner case for me, and I suspect, in general.