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We use Rublon for adding MFA to Remote Desktop and other VPNs too and it works very well. It’s not an over engineered monstrosity like Microsoft solutions.

We’ve been using it for years and it’s always been irritating in the way you describe. It seems if you miss the first push notification, you’ll receive a flurry more, many of which don’t really seem to do anything even if you do approve them. It’s possible that I have the timeouts set incorrectly, but I’ve followed Microsoft’s guidelines. Unfortunately we don’t have a better solution, so we suffer with it.

I've a whole range of clients running it without an issue.

I will say however, the only MFA it supports is push (ie, TOTP doesn't work), and if you're not familiar with that, be aware many Android installations snooze that app and the push doesn't work unless you specifically have the app open at the time you logon.