i use Aegis which is open source, encrypted and can do automatic encrypted exports to phone/cloud storage that other apps can import so you dont get tied to a single device/app/service.

Authy is mostly fine but it ties you to its service (which requires gapps on android phones), doesnt allow exporting, and even if you export it with root workaround they will invalidate all of your tokens if you want to delete your authy account.