Choosing a Two-Factor Authentication System - CloudFlare blog
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blog.cloudflare.com
Also, both the client and server software is open-source, so that can be confirmed too.
Also, a mobile phones time is synchronized by the GSM network, it doesn't drift much (if at all).
Hearing that Authy will soon support Google Authenticator tokens is great news! I have never encountered the "out of sync" problem with Google Authenticator described in the article, but the Authy app does feel more native on my iPhone.