Yubico Authenticator permits you to generate TOTP directly on your desktop/laptop/smartphone using your Yubikey.
This is how to install it on Red Hat Enterprise Linux / AlmaLinux / Rocky Linux 9.
Prerequisites
dnf install -y opensc
If you're using Wayland, you'll need this additional step to be able to scan QR code
dnf install -y gnome-screensaver
Download and install Yubico Authenticator
cd /tmp
wget https://developers.yubico.com/yubioath-flutter/Releases/yubico-authenticator-latest-linux.tar.gz
tar xf yubico-authenticator-latest-linux.tar.gz
rm yubico-authenticator-latest-linux.tar.gz
sudo mv yubico-authenticator-* /opt/yubico-authenticator
sudo restorecon -R /opt/yubico-authenticator
sudo ln -s /opt/yubico-authenticator/authenticator /usr/local/bin/authenticator
sudo ln -s /opt/yubico-authenticator/authenticator /usr/local/bin/yubico-authenticator
Desktop shortcut for current user
/opt/yubico-authenticator/desktop_integration.sh --install
Now, you don't have an excuse to don't use your Yubikey on Linux for TOTP when WebAuthn isn't available.