I understand it’s convenient to avoid entering a password when using app store.
For parental control purpose, how can I enforce the use of apple id password when using the app store every time?
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Set up a second Apple ID as part of family sharing and use that ID for the App Store only. You can choose to use the primary ID on the rest of the device or let that ID be off device once you are set up.
If you want a more complicated setup, you will need an MDM provider which can also do this, with extra work past what Apple has designed to exert parental control over Apple ID functions.