*update: TBC, but this new might affect how easy it is to use this technique past August 2024: Authy is shutting down its desktop app | The 2FA app Authy will only be available on Android and iOS starting in August
This gist, based in part on a gist by Brian Hartvigsen, allows you to export from Authy your TOTP tokens you have stored there.
Those can be "standard" 6-digits / 30 secs tokens, or Authy's own version, the 7-digits / 10 secs tokens.