Currently my bank requires a device where I need to insert my card to get a one time six digit code based on a QR code the banking website serves me that the device scans.

I'm not quite sure why they don't support something like a yubikey with FIDO, but maybe there's a good reason.

ING supports hardware keys in some markets, so there's no reason not to.

because it's so niche it's not profitable to implement