The YubiKey supports TOTP app authentication using QR codes. You can setup a user account to use a TOTP app and create a QR code then use the Yubico Authenticator with the QR code.
You can learn how to use QR codes in the Yubico Authenticator from Yubico here:
https://support.yubico.com/hc/en-us/articles/360013789259-Using-Your-YubiKey-with-Authenticator-Codes
At this time we do not support the FIDO2/password-less sign-in.
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