Well, the thirty second window in practice is usually a 2 - 3 minute window, as TOTP servers are set up to allow for drift, network issues, human slowness etc. For sure, memorising more than a handful may be hard but it's just "11 Nov 14:35", etc.
I wonder if something could be set up to be both more secure, and more tailored to this use-case. Be pretty sweet to embed a 2FA in users brains somehow.