For a corporate setting where you can replace keys easily, I would choose Fido keys and SSO protecting all access into the network instead of OTP/VPN as that is generally immune to social engineering attacks / leaked passwords. Additionally, it’s trivial to manage those keys in a corporate setting centrally.
For personal use, I still prefer OTP because I’m not fully comfortable that I won’t lose some key and forget to revoke it everywhere and/or lose permanent access. Phones are getting very good at being that security key with backup but I’m a little hesitant to do that because I’m not sure of the interop story.