Is it worth switching from Authy?

I am currently using Authy for my multi-factor authentication. I use iOS. Is it worth switching all of my accounts to something like Raivo instead? Or should I look into some type of hardware authenticator? I’m worried about not being able to access an account when I’m not home or if I somehow lose the physical key. Also for Raivo, is it a risk using the iCloud service to synchronize my tokens? If I do use cloud is it a bad idea to put my cloud master password for it in my password manager (Bitwarden)?

I use Authy on multiple devices. If my phone were to be stolen I’d be screwed without cloud backup/multi device support.

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