I print them on paper and snail mail them to my sister and parents. I lose my yubikeys (I store TOTP secrets here, not my phone), I can call them internationally and have them ready me the seeds (or send me a picture, at which point I roll them all over).

I've also done it where I sent them a YubiKey with my secrets, then set it up so I can access a computer remotely (via ssh, rdp, etc...). I have to call them to insert the key into the machine, so if the machine gets compromised, there's not much risk, as it's only plugged in if I call them to do so (and tell them to unplug it X minutes later).