Unlocking LUKS with NitroKey/Yubikey: FIDO2, HMAC-SHA1, or OpenPGP?

Which approach do you think is better, and why?

1. FIDO2
2. HMAC-SHA1
3. OpenPGP (alternative guide)

Or do you think there is an even better way to use a hardware security token to unlock drives having LUKS full disk encryption?