Technology
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So, the real reason is because they're usually not implementing it themselves, and the service they're using has an array of options, and they went for the most "user friendly" approaches.
Registering an authenticator or typing numbers is viewed as hard by a lot of people, so SMS or an push notification are viewed as the easy route.
Could at least offer it, I don't consider SMS secure, and push notifications require that you have a supported mobile device.
You're not wrong, but it can be difficult to support more than the minimum without more buy-in from a financial perspective. Things beyond SMS tend to need an enrollment process that would impact the user sign-up flow.
You can create the user and store their phone number in one step, but totp sign-up usually needs something where you can create a provisional user, and then activate their MFA to activate the user.
It's why a lot of passkey stuff has a lot of potential, since it can make it easier for the user to sign-up, which has an appeal to people who are making decisions that have to consider sales and IT concerns.