Like so many other questions on this site, you'll find the answer is "it depends on your threat model."
If your biggest risk is "employees who lose their USB keys and don't report them in time", then you might consider an authenticator app to be "safer".
If your biggest risk is "phone remotely hacked and the authenticator app is targeted by a hostile actor, and the authenticator's internal state is compromised" then a USB key might offer a "safer" solution.
Whatever your "keeps the CISO awake at night" threat is, that's typically the path you'll take.
--
Also, be aware that most of your "advantages" are not quite the security differentiators that you think. Most are policy choices available either way.
- One less thing to carry is a convenience and cost advantage, not security. A USB key can "just work" without requiring both a phone and typing a bunch of passcodes, which is also a convenient time saver. Either way, convenience can lead to increased user acceptance, which can be argued is a security advantage.
- When reported lost or stolen, any authenticator will instantly be revoked by serial number, regardless of if it's a phone app or USB key. And both can be restored by a simple administrative process. In the real world most users report their phones as lost, not stolen, and are strongly opposed to remote wiping of their device if there's a chance it's merely hiding under the car seat (aggressive lost-device response measures will result in under-reporting of lost devices.)
- The USB key requires a computer; both computers and phones have lock screens and can be encrypted.
- Phone authenticator apps can be password protected or not; that's a configuration choice. Computers are protected by the logon screens.
- Backup codes for both OTP and USB keys can be enabled or not; or an organization might require a user to physically check-in and present their ID before security reissues them a new code or device.
Finally, there's nothing preventing an organization from offering multiple authenticator options, leaving the choice up to the users.