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You want to look at the QTouchEvent docs. Specifically you want to enable touch events for the widgets you want to interpret the touch events with WA_AcceptTouchEvents.
The blurb after talking about the acceptTouchEvents attribute only applies to QGraphicsView derived items, which you're likely not using. On the C++ side of the docs, that is a link pointing to the QGraphicsItem::setAcceptTouchEvents method. No such link exists in the python docs due to doc autogeneration limits. Might be worthy of reporting a documentation bug for. It's mostly clear, but some of those links are important for understanding the full picture.
Huh. I don't find a touch example, at least combing through the names of the examples. Sounds like should add one.
https://doc.qt.io/qtforpython-6/PySide6/QtGui/QTouchEvent.html