There is one thing that makes Authfactor different from the others in the milieu of programs. It doesn't need to be given a password every time users need to use it. Backup could be provided through phone or through SMS.
With Authfactor, you need to use only the feature you need. The others would be taken care of by themselves.
Authfactor was developed by Jonathan Rudenberg. It is available as a shareware at a price of about $40. It comes at a price, but the money-back guarantee really negates all the hassles.
The plugin is capable of making Twilio calls and SMSes. There is a migration generator for Authfactor. The plugin has a model with avenues for authenciation.