Often many 2-factor setup screens will directly reference GAuthenticator, but it is just a TOTP app so you can use any TOTP app with a GAuthenticator qr code, and you can usually get the secret text for copy paste to a desktop TOTP in case you can't scan a qr code, but i have seen some apps that don't make that easy. There is desktop software that will read qr codes from the screen.

In Google's Workspace Admin just got to:

Security -> Authentication -> 2-step verification

Then choose "Any except verification codes via text, phone call". This allows them to use TOTP, a security key such as a usb key or if they have a phone like a Pixel or iPhone that has a security key built in, or TOTP. They can also approve logins from another device that is already logged in, and can generate long-lived backup codes.

You can also allow only a security key, no TOTP or prompts and if, you do that, you can disable backup codes as well.