One common 2FA method is TOTP (time-based, one time password). Bitwarden [0] is a password/secrets manager that you can host yourself. It supports TOTP so you can just use that instead of a separate app like Google Authenticator or Authy. I would not recommend this personally as if you expose your master password for bitwarden, you've also made it possible for the attacker to sign in via 2FA... which normally would require access to your phone or backup keys. But it is more convenient.
Basically, people should be using password managers by this point. I recommend bitwarden because you can host it yourself, it's good for storing other secrets, and it has browser plugins/apps.