Earlier quoted context omitted.
Oh, it's just U2F? You want FIDO2 with resident key support to get the really nice OpenSSH workflow (plug the key in to a new computer, run ssh-add -k, now you can SSH to all your computers).
Can I do this with a Yubikey? Last time I tried there were a few, more complex commands than this. Could I use a udev rule to add my SSH keys as the device is plugged so I don't have to run anything? I think I was using PIV last time.
EDIT: I'm going to post a writeup tomorrow detailing how to do this, because it's wonderful and super secure.