TOTP, while not perfect, is an improvement. The protocol could be improved to provide protection against proxy attacks, but the point I'm trying to make is that your regular user can use TOTP. I've successfully set it up for my parents (both closing in on 70years old and are not tech-savvy) and they have no issues using it.
Personally I use a hardware U2F key everywhere I can. With the newest version of Safari Tech Preview _finally_ supporting U2F, I'm hoping we see some deeper market penetration.