I’ve only used Yubikey when work mandated them for a while. Didn’t last long until they moved to a push-to-phone-app system instead. It was fine, just irritating to carry around one more physical thing.

And I prefer a smartphone based app in personal life. I use Authy, keeping my backup codes in several safe locations and separate from where I keep password vault backups.

There’s probably some super duper FOSS alt to Authy but I haven’t spent the time to look for it.