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Some sites give recovery codes that you have to store somewhere and that you should be able to use if you lose access to an Authenticator app.

Something about printed recovery codes makes me think of passwords on postit notes

I keep them in my Bitwarden vault

There is absolutely nothing wrong with passwords on post-it notes as long as you secure them.

In fact, printed passwords in a physical safe is what you want to do for your "break the glass" accounts.