Do you use KeyHub? With this app you'll never have to manually enter a 2FA code again.
Simply connect the app using the regular 2FA-feature in your KeyHub-account and enable push-messages. When KeyHub requires you to enter your 2-factor-authentication, a push message will notify you. You can directly use this push-message to authenticate (after passing the touch-id or passcode check).

If you weren't the person to initialise the authentication, the push-message can be used to immediately lock your account to prevent others to access it. That's all it takes!