Several options...
Not exactly the same, but if you're using Bitwarden (which is compatible with generating TOTP tokens) to manage your passwords, you can use their bitwarden-cli tool to request tokens from the cli: https://bitwarden.com/help/cli/#get
But if you want the simplest cli thing, you can probably can use this golang ( https://github.com/yitsushi/totp-cli ) or this python ( https://github.com/WhyNotHugo/totp-cli ) implementations.
There are also a ton of CLI tools to generate TOTP if thats what you're using authy for.
I use totp-cli:
There's also _totp-cli_, which also uses _pass_ as a backend. The big difference is mostly that _totp-cli_ uses a more human-friendly interface, rather than requiring machine-friendly input. It also predates pass's support for plugins.