From the Colorado DMV's website:
https://dmv.colorado.gov/documents"The information here covers identification and lawful presence requirements for Coloradans seeking a driver license, ID card or instruction permit... Per C.R.S. 42-2-107 and 42-2-302, applications for credentials must contain a fingerprint."
CRS 42-2-107 concerns applications for driver's licenses and learner's permits, and CRS 42-2-302 concerns issuance of driver's licenses and non-driving identification cards.
My friends who were already in the state prior to 2017 never needed to get their prints taken to keep renewing their licenses. But since I moved here in 2019, I needed to provide mine, as do any teenagers getting their permits or licenses for the first time here.