I don't think that's possible right now. Until they come up with a solution to "I've lost my 2fa token" that isn't as painful as losing you wallet there will be new designs coming out. (Actually, it's more painful. You only have a few cards in your wallet, while your 2fa token may be recognised by 100's of sites.)
This isn't a criticism of FIDO2/WebAuthn. I am impressed by how each iteration solves a new part of the problem, and FIDO2 was definitely a step forward, fixing rough edges in FIDO. But we aren't there yet. We need a FIDO3 and possibly 4, 5 and 6.