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Thank you for this post!  I just wanted to say this same thing just happened to me in English to help the search engine pick it up for english speakers.  I could log in via web gui with TOTP + Passphrase.  I can connect to the router via ssh with key encryption, but was unable to run commands in the terminal using sudo because the TOTP + Passphrase was not accepted.  My non-root user is part of admin/wheel groups.  The set up was working before and then stopped working around the same time as an update but also when i'd been doing a once over on the configuration so who knows what caused it.  Anyway, a simple reboot cleared it up.