I have Yubico Authenticator installed on my phone and my desktops/laptops.
The android app is a direct fork of google authenticator and has nearly identical UX.
I tap/plug my key to either of them to get a token.
If you want to make the argument TOTP via hardware token is overkill for most users, that is totally fair. On that note though, there is no point in having hardware token via U2F.
Security is ahout the weakest links. All I am saying is anyone going through the trouble to set up U2F as this guide suggests, might as well spend the extra 10 seconds to store their TOTP secret on the key as well, vs exposing it on the phone.
I assume someone that has a hardware token is getting it for a reason: To have assurances an attacker can't log in as them without that token.