While Twilio does a lot right, they still only offer SMS and their own proprietary Authy solution for 2FA for their website. No TOTP (and still no plan to offer the industry standard) means that this has a whiff of hypocrisy.
But if building and maintaining app based TOTP using a library is good enough for you, then go for it. I'm certainly not going to make you use Twilio's APIs, but plenty of businesses do see the benefit.
[1] https://en.wikipedia.org/wiki/Embrace%2C_extend%2C_and_extin...
See also: AWS.