I used a tapsigner from Coinkite as a key in my main multisig for the past 4 ish years. But being a Coinkite product, I'll be giving it up along with my coldcard. Trusty and stout though it has been. I don't know of another nfc card to be honest, which is unfortunate because the form factor and experience of using one is top-notch.
If you're looking for good HWW's, there are several: Seed Signer (though it's diy), BitBox02, Trezor, Passport, Keystone, Jade. An assisted multisig with Nunchuk is a good option and is what I use, or you can make your own 2-of-3 with your own keys.
For software, the options are more vast depending on use case. The well-known ones are typically good options. For managing your on-chain key, Sparrow and Nunchuk are the best, depending on whether you like doing things on a PC or a phone.
Personally never used a passphrase, but I'll be making the new seeds for my new multisig with dice rolls, 100 rolls for 24 words.
