Bitwarden + 2 yubikeys is my solution. I remember one password, keep one key with me, and leave one key at home.
EDIT: How to register your spare Yubikey: https://support.yubico.com/hc/en-us/articles/360021919459
I thought the idea was that we’d write the secret once to an arbitrary number of primary and backup devices, then destroy it so it can’t be stolen as easily. Although I guess password managers save TOTP secrets alongside the password factor these days too.
Does the “the secret itself is not phishable” aspect of TOTP just not actually matter in practice as much as the rapid expiration and frustrating replay attacks / on-the-wire sort of secret interception?