That at least keeps more of your MFA key material on the hardware token and off of your phone / other shared devices.
The easiest way to do that is via the ykman CLI or Yubico Authenticator application (TOTP secrets stored on the key via either method go to the same place, so you can use both interfaces to access the same codes):
https://support.yubico.com/hc/en-us/articles/360016614940-Yu...
https://www.yubico.com/products/services-software/download/y...