This is basically the same as your pattern, except the trust is in the channel between the agent and the approver, rather than in knowledge of the password. But it's a little more usable if the approver is a human who's out running an errand in the real world.
1. Cf. Driver by qntm.
The thing i want ai to be able to do on my behalf is manage those 2fa steps; not add some.
In the scenario you describe, 2FA is enforcing a human-in-the-loop test at organizational boundaries. Removing that test will need an even stronger mechanism to determine when a human is needed within the execution loop, e.g. when making persistent changes or spending money, rather than copying non-restricted data from A to B.