I had some confusion with this when I was connecting 2FA to one client's panel at one time. The default was TOTP, but then there was a task to make authorization on devices where there is no permanent connection to the Internet. That's where good old HOTP came in handy. It doesn't depend on time, only on the counter, and it's easy to test - by the way, I used
hotp generator to see how the codes change. Very handy, especially if you want to make sure the counter hasn't moved away. And if you need quick and easy testing, TOTP is often enough. But if there are nuances, such as offline access, then HOTP really helps.