macOS OTP Autofill with Google Voice
For any other people who use Safari full-time and use Google Voice for 2 Factor SMS. (Just for those who upgraded to new Mac OS and iOS)
If you setup a Gmail filter to forward your GV SMS to your iCloud email, and log into that same iCloud email on your devices, Safari will use the 2FA codes from those emails, prefilling inputs and then deleting the email when you're done prefilling. It's a really nice integration for those who don't want to use their actual phone number.