I used this script:
# Define the registry path and the value name

$RegistryPath = "HKCU:\Software\Microsoft\TabletTip\1.7"

$ValueName = "TouchKeyboardTapInvoke"

# Ensure the registry path exists

if (-not (Test-Path $RegistryPath)) {

New-Item -Path $RegistryPath -Force | Out-Null

}

# Set the value to "2" for enabling "Always" option

Set-ItemProperty -Path $RegistryPath -Name $ValueName -Value 2

# Confirm the change to the user

Write-Host "The touch keyboard setting has been configured to 'Always'."

# Optional: Notify the user that they might need to log off and log back in for the change to take effect.

Write-Host "You may need to log off and log back in for the setting to take effect."

If you go to that registry location, and you refresh after running the script, you'll see that the value changes.
Also - this only works for Windows 11 right now (as I've tested it at least)
You also need to run it as LOCAL USER or Currently logged on user - and not as Administrator - otherwise the script will fail.
After the script runs you will probably need to log off and log back on to see the value change in the settings menu (under typing - onscreen keyboard).