I actually prefer TOTP, at least personally, as a perfect compromise. The problems with FIDO, besides the obvious lack of adoption, are the expense of key devices, difficulty of backups, and lack of support on many devices that don't have NFC (even those that do are frequently spotty)

The 'leaking' of the secret is, to me, a feature. That means I can safely store it as a backup (printed in a safe, even) and restore it to any device I want in seconds. I don't care about a leak by the service, because that is game over for my data there anyway: if they can't protect 2F secrets, nothing is safe.

Really, mutual TLS would be perfect, but nobody is going to support that. I seem to remember even Windows tried something like that a decade ago and even their weight couldn't break us away from passwords for Internet sites.