Google Authenticator made it slightly easier with the "Transfer Account" functionality, but still requires access to your old device, so it doesn't help if your already wiped it. I personally would prefer backups would transfer all configuration, but understand this would be an additional risk.

Of course you can just use Authy, although it does introduces the risk of an attacker compromising your phone number.

To mitigate this, after you add browsers and phones to your Authy account, you go yo Settings, Devices and disable Multi-device.