Gist is: Most people treat TOTP as a second, time based password (multi step authentication) instead of a second factor. If you truly want 2nd factor, you should never sync your passwords to the phone you are using as 2FA, and never use your passwords on the phone you are using as 2FA.
So it depends on your own security concerns if you want to treat TOTP as a true second factor or as a secondary, time based password only.