State of multi-sig hardware wallets

Someone close to me recently got their house broken into and their seed phrase stolen from their safe. This got me thinking about the single point of failure of today's devices.

A multi-sig solution is paramount I believe for any serious cold-storage. I've looked at Bitkey's implementation but am not at all happy with the compromises today:

A few questions before purchasing : r/BitkeyWallet (reddit.com)

Block's Bitkey "Hardware Wallet" will Violate your Privacy and Security (zherbert.com)

Is there a company that does multi-sig hardware wallets correctly? Ideally:

1. 2-of-4 multisig where 1 code lives on a hardware device, 1 offline on paper, 1 on a connected device (phone/pc) and 1 at a friend's place. This allows for security and recovery options. 2 codes needed for a transaction or to recover any other code.
2. No cloud service for privacy.
3. Ease of use with mobile app + hardware device.
4. Open source mobile/desktop app
5. A hardware device with a screen to not depend on the internet connected device for security
6. Ideally air gapped device.
7. Ability to export all keys so no company/app dependencies in case they go out of business.

Anything like this around?

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