The SSH setup with a Nano and a laptop is pretty neat, in fact. Once you get it going. For a desktop it wouldn't work as smoothly thanks to the touch-for-every-auth requirement.
Even with the well-known document (by HN regular StavrosK) at hand, you can have a confusing experience getting the resident keys going at first. So I put together something to hopefully help people out: https://bostik.iki.fi/aivoituksia/projects/yubikey-ssh.html
FWIW, when I was working on the draft version, searching for the special error code brought up only three pages in Google, and only one of them was actually helpful. At least in my filter bubble.
PS. I am aware of Filippo's yubikey-agent, which AFAIU uses PIV instead of FIDO2. Looking into that will be for the future.
I use them for services like Google, but also for SSH keys. (Since 8.2, OpenSSH has built-in U2F support.)