You certainly shouldn't rely on just your phone. If you store your 2FA token in Bitwarden, you can use any of your other devices that you have used Bitwarden with recently.

The 2nd factor is only needed when it's new or occasionally in other cases. I don't know why you say it adds lots of friction, unless you are frequently signing into new devices.

And as a failsafe a printed backup code is pretty important.