One nit about this article. It claims that the Yubikey does not support TOTP (Time-based One Time Code). I believe all of the Gen 5 versions that plug into your computer's USB port support TOTP.

There is an app called Yubico Authenticator that can scan for a QR code on your screen and import the secret key from a website, into the Yubikey, when setting up TOTP as supported by Google Authenticator. You can also require a touch in order to generate the One Time Code, which I would recommend.