Do you want to use a YubiKey (security key) or an Authenticator app (Google Authenticator / Microsoft Authenticator)? Pick one.
YubiKey (security key)
A small key you plug in or tap. When asked, touch the key.
On a phone: hold the key to the back, then touch it.
Authenticator app
An app on your phone. Scan a picture, then enter six digits.