I personally switched to using 2FAS[0]. My favorite feature is that it comes with a browser extension that can automatically fill in the OTP on web forms, after approving the request on the phone app.

[0] https://2fas.com/

Aegis. It is FOSS.

Ente auth is the best, x-platform, including desktop, unlike a lot of other alternatives

There was a cli tool to export authy codes, but there was a comment here that the APIs it used no longer works

Not OP, but I escaped Authy over a year ago and I've been happy with 2FAS on Android. Aegis is also very good. 2FAS has backup to Google Drive. Aegis does Android Cloud Backup. Aegis is available on FDroid. IIRC I chose 2FAS for purely aesthetic reasons, but I could've easily gone with Aegis and been happy too.

Speaking of escaping Authy, good luck with that. I had to use their desktop app and api to pull my data. I read in another comment that they've recently closed that api. So, you might be stuck migrating each account manually. That bullshit alone is worth the trouble of moving.