I've started migrating all of my 2FA over to 2FAS. No desktop app per se, but it does have extensions for all major browsers, and apps for iOS and Android. You control the syncing of the 2FA (either automatically via Google Drive or via manual bulk exports to a local file), no SaaS bullshit.
You still need my(edit: I need mine, but you can use yours) phone but with the Firefox add-on you just need to accept the pushed notification for it to autocomplete the code
Thanks for the recommendation. Started working on migrating all of my 2FA over from Authy. The process sucks (that's not the fault of 2FAS), but I really like 2FAS as an app so far.