[retr0grad3]

Jumping in to reply because I made the switch to Authy about two years ago and haven't looked back. You get the ability to sync MFA across devices and desktop without a hitch. Add in the backup (with encryption) and you can onboard a device quickly and it fits every use case I need.

[artursapek]

Couldn't you just use Yubikeys to hold your TOTP secrets? If you want redundancy, just set up 2 or 3 and keep the extras safe.