You cannot compromise the TPM(e.g. read the keys stored in it, decrement increment-only counters), but most of the point of a TPM is that programs can call an i

You cannot compromise the TPM(e.g. read the keys stored in it, decrement increment-only counters), but most of the point of a TPM is that programs can call an interface and have the TPM perform operations using those keys. If someone compromises the machine enough to be able to run arbitrary code, they can issue those TPM operations remotely just the same as the legit software. What you describe is somewhat related, in that one can use a combination of a TPM + some kind of a biometric sensor to build a system like TouchID or Windows Hello, and that combination would not be remotely operable. But if e.g. your mTLS client cert is stored in the TPM, you certainly would not expect to swipe a fingerprint reader on every connection that the browser establishes to the mTLS domains.