I ported u2f-hid-rs (the library Firefox uses) to FreeBSD, it's been in the www/firefox port for a while and now accepted into mozilla-central I think.
The Chromium FreeBSD port also has had U2F support for a while.
I may have got this wrong, but IIRC, Duo use a Chrome-specific implementation; it’s on Duo to use the standard. I remember reading that it’s in their roadmap, but it didn’t sound like it was coming soon.
How about Duo secured sites?