Yep. We've got it working with OpenPGP Card devices (Yubikeys, Nitorkeys, etc.). The signing part was actually pretty easy and the decryption required a bit more work but the maintainer was super responsive (https://github.com/rpgp/rpgp/pull/315).
Overall I'm pretty happy with the codebase.
The PoC for using cards in git is in https://github.com/wiktor-k/monkeybagel (excuse the silly name ;).