I suggest testing it yourself in any case, I don't think this article is correct in this. I did try it in the past with Google Titan and not a Yubikey and I could be wrong.
EDIT: `-O resident` might be what is doing it though, I wasn't aware of this option.
Non-resident keys will basically give out the private key encrypted with a static master key as the key handle and thus support an unlimited number of keys. If you lose the key handle, then the key is gone. That's probably what you were experiencing with your Titan.
EDIT: `-O resident` might be what is doing it though, I wasn't aware of this option.