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Bitwarden has launched a new authenticator app
(bitwarden.com)
This is a most excellent place for technology news and articles.
They're probably using HOTP or something else, not TOTP. TOTP is literally just the key + any clock. Or maybe it's the "click button to authenticate" and not the "enter code to authenticate," which might not be HOTP or TOTP, but something else entirely (e.g. Steam's system is neither AFAIK).
If it's TOTP, you just need to get the key and can use any authenticator app.