Welcome to the Cisco Learning Network!
I understand you need to recertify your CCNA R&S, CCNA Security & CCNA Wireless that will expire on December 30th., 2019.
Regarding your question. Yes, you just need to pass only ONE Associate level exam, in your case, by just passing the SECFND 210-250 exam, you will recertify all your Associate level certifications:
You can verify the information above at the "Recertification" tab at the following link: Routing & Switching (CCNA)
I wish you all the best in your 210-250 SECFND Exam