It's technically possible to use 2FA (e.g. TOTP) on the same device as the agent, if appropriate in your threat model.

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.

This is where the Claw layer helps — rather than hoping the agent handles the interruption gracefully, you design explicit human approval gates into the execution loop. The Claw pauses, surfaces the 2FA prompt, waits for input, then resumes with full state intact. The problem IMTDb describes isn't really 2FA, it's agents that have a hard time suspending and resuming mid-task cleanly. But that is today, tomorrow, that is an unknown variable.