Part of the point of hardware tokens is that you can't back up and restore their keys. If backup and restore is important to your userbase, you should stick with soft tokens.
Instead, I would argue that plain-text export of private and secret keys is undesirable, as it removes any protections the HSM was supposed to provide (2 man rule for access, audit of use, etc). Back-up schemes that export these keys (in encrypted form) to another HSM that enforces the same rules as the original HSM can be useful, IMO.
My point is not that backup and restore is intrinsically evil; it's a legit security/usability tradeoff. I think most people should use software tokens.
I'm not saying soft tokens are bad. They're not; they're great. When we get a workable U2F software token, that might be the best option for most people.
What I'm saying is don't spend money on a hardware solution that isn't buying you any meaningful additional security.