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Plus, unlike with Yubikey, Nitrokey has open-sourced both hardware and firmware [1].

True for their storage and encryption products. Unfortunately not for their U2F product. "Nitrokey U2F is a relabeled 3rd party product and hence not open source."[1]

[1] https://shop.nitrokey.com/shop/product/nitrokey-u2f-5

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