I had this exact same problem, so I purchased the Yubikey security key. My biggest gripe is how Duo prevents me from factory resetting my phone as it is tied to my device unlike email, SMS, or the passwords I use. It is such a hassle that I had to call the IT help desk to reset Duo instead of being able to do it myself. My work account out of the blue started requiring it, so I was caught flat footed. In addition, my state university also requires a security key.
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