I've gotten used to this essential feature too via Semaphore CI, and I just can't stand not being able to SSH into a GitHub Action. Debugging is so slow.
Not all though, I've been looking at Minimed pump reverse engineering (which would be just reading glucose data, not controlling the pump), and that's not solved yet, at least not for the 780G. But I hope it will be, and perhaps I'll be able to contribute.
Some password managers like 1Password can do the two-factor stuff for you, so you don't have to pull out your phone. On the fully supported pages it'll just autofill your username, main password, and one-time password.