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I want to use the user tracker to create a registration form to collect additional user information on Tiki. I have done this by configuring the User tracker and specifying that users can register using the tracker under Admin>Login. However, I do not see where I can specify what fields on the user tracker shows up on the registration form for new users?

Under Control panel, go to "Admin Groups", where you can select the group - "Registered", click on "Edit" and under the field:"Users Information Tracker Fields Asked at Registration Time" , specify the fields you want to show up for new users registering on the registration form.

You could have a look at the User Trackers profile which sets up an example tracker and adds some of the fields to the registration page for you.
N.B. However, as usual, profiles cannot be undone easily (yet) so try this on an example empty Tiki first (e.g. https://demo.tiki.org/16x) and not your production site to be safe.