BTW, here is a handy way to quickly generate GPG keys (and set up git commit signing and SSH key derivation) on Yubikey: https://github.com/DataDog/yubikey
If you only want to do SSH, that way is a huge hassle, way too much to do on machines you don't own/are using casually. If you can use newer SSH versions, they support FIDO2 natively:
https://www.stavros.io/posts/u2f-fido2-with-ssh/