Information
Rescue mode (former single user mode) is used for recovery when the system detects an issue during boot or by manual selection from the bootloader.
Requiring authentication in rescue mode (former single user mode) prevents an unauthorized user from rebooting the system into rescue mode to gain root privileges without credentials.
Solution
The systemd drop-in files must be created if it is necessary to change the default settings:
Create the file /etc/systemd/system/rescue.service.d/00-require-auth.conf which contains only the configuration to be overridden:
[Service]
ExecStart=-/usr/lib/systemd/systemd-sulogin-shell rescue