How did you create the project? If you're using CubeMX (either standalone or part of CubeIDE) and choosing "Board Selector", this won't give you any actual BSP code like drivers for touch controller.
If you search this forum you should find a video of me explaining how to get the STM32F746G-DISCO board working with CubeIDE, including touch. And others have done further work to get linker scripts working properly.
In order to have the touch working, was necessary to copy the "stm32469i_discovery_ts" (C and H) from the cube repository (Drivers/Bsp/STM32F469I-Discovery), and in file "OTM8009TouchController.cpp" in (Touchgfx\Target) uncomment the code inside the "init" and "sampletouch" function as well handle some includes...
And yes, at this point the only advantage i see in using CubeMx is to get a more recent FreeRTOS version and HAL/LL files.