2FA is perfectly OK for a single device, and a sensible precaution for both users and Apple to implement to protect accounts which contain personal data, credit card and payment information, and content - and when extrapolated to iCloud, potentially a great deal more, such as photos and documents.
The problem in my mind is not the theory that 2FA is sensible, it the practical aspects of implementation when it comes to multiple devices, and it is the experience users have in this situation which I suspect has not been significantly considered. I know that when I (unexpectedly) had 2FA enabled on my account some time ago when it was first introduced, it resulted in most of my devices being unusable - at least for the purposes I needed them for. As an example, I use my iPhone extensively for FaceTime Audio and Messages, but these were inaccessible because the code was being sent by SMS, and AT&T had disabled SMS on my account. No code, no access. Repeated across iPods, iPads, MacBooks, iMacs, and Apple TVs, this was infuriating, frustrating, obstructive and totally unnecessary.
I provided feedback to Apple on the subject, and ultimately discovered how to turn 2FA off, and in doing so, was forced to change my Apple ID password, which then meant having to log into my account on each device in turn, entering the required tortuously complex password on virtual keyboards totally unsuited to such a task. But at least eventually, I had access to services on my devices again. Even so, I had missed several important calls and messages.
Once bitten, twice shy. If I had been looking at buying a HomePod for serious use rather than curiosity, the 2FA requirement would certainly and absolutely have decided me to keep my money.
Overall, I suspect that most people will deal with it and get used to it, and the world will continue turning. But I do wish that Apple paid a little more attention to the user experience, as it applies to actual users of Apple products rather than those who test devices, systems and services on our behalf - and who for all I know, all use throwaway Apple IDs like I did for the HomePod!
All that said, this is not really within the terms of use, so now I've had my moan, I'll shut up!