I don't know of any CLI clients (that would be perfect with a Bash alias) but I just store the initial 'seed' passcode in my password manager. When setting up a new device, I manually enter that instead of scanning a QR code and it works perfectly.
Admittedly this is not perfect, but I am comfortable with the level of security it provides. I think it is also roughly comparable to users who have a 2FA app on their mobile and a password manager syncing to the same device.