With prometheus deployed via kube-prometheus-stack helm charts, you will need to add servicemonitor for istio metrics since k8s annotations (prometheus.io/scrape)  doesn't work. Create these servicemonitor to enable scraping istio metrics:
apiVersion: monitoring.coreos.com/v1
kind: ServiceMonitor
metadata:
  name: prometheus-oper-istio-controlplane
  labels:
    release: prometheus
spec:
  jobLabel: istio
  selector:
    matchExpressions:
      - {key: istio, operator: In, values: [mixer,pilot,galley,citadel,sidecar-injector]}
  namespaceSelector:
    any: true
  endpoints:
  - port: http-monitoring
    interval: 15s
  - port: http-policy-monitoring
    interval: 15s
---
apiVersion: monitoring.coreos.com/v1
kind: ServiceMonitor
metadata:
  name: prometheus-oper-istio-dataplane
  labels:
    monitoring: istio-dataplane
    release: prometheus
spec:
  selector:
    matchExpressions:
      - {key: istio-prometheus-ignore, operator: DoesNotExist}
  namespaceSelector:
    any: true
  jobLabel: envoy-stats
  endpoints:
  - path: /stats/prometheus
    targetPort: http-envoy-prom
    interval: 15s
    relabelings:
    - sourceLabels: [__meta_kubernetes_pod_container_port_name]
      action: keep
      regex: '.*-envoy-prom'
    - action: labelmap
      regex: "__meta_kubernetes_pod_label_(.+)"
    - sourceLabels: [__meta_kubernetes_namespace]
      action: replace
      targetLabel: namespace
    - sourceLabels: [__meta_kubernetes_pod_name]
      action: replace
      targetLabel: pod_name
Once these servicemonitors are created, metrics would start appearing in a few minutes. You can check the status under your Prometheus -> Status - Targets   There will be entry something like this:
serviceMonitor/yournamespace/prometheus-oper-istio-controlplane/0 (1/1 up) and
serviceMonitor/yournamespace/prometheus-oper-istio-dataplane/0 (1/1 up)