I have used both. During that time I've lost access to SMS due to my phone breaking (twice), I have lost permanent access to online banking because the bank will not accept an international number. I came extremely close to losing access to my entire Google account because I use Fi and you need to sign into Google to activate it on your phone, but you need to be able to receive SMS to sign in to Google.

Meanwhile, I have multiple yubikeys that are as hard to lose or break as a house key. Google is kind of the only site that supports hardware tokens, but you can add multiple to your account. I can't think of a single site that allows multiple phone numbers for SMS 2fa.