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Yubikeys can store 2fa codes. You just install their app from F-Droid and show the NFC key to get the codes.

Now the codes are with you and not in your phone or in the cloud.

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One flaw in that is that Google Voice or other VOIP provider numbers are often rejected for 2FA or account validation.
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Sometimes, yes, but not that often IME. Maybe 10-15% of the time.
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I recommend you get off Authy - they don't have a browser extension or a desktop client, and surprise they don't have a way to export your codes either. I had to send them a GDPR data request, and then Claude decrypted the csv file they sent. I now use Ente and it's so nice having 2fa inside a browser extension. I can also export the secrets at will.
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Keepass is also a good alternative to Authy, caveat being you need some way to sync the db file between devices.

I personally use Keepass for 2FA, Bitwarden for passwords. It's worked great for me so far, and I expect to stay with this setup for the foreseeable future.

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