Improve Heroku MFA experience

What are ways to improve the Heroku multi-factor authentication (“MFA”) experience now that it is a Salesforce [requirement](https://help.heroku.com/BHT2HSHA/mfa-requirement)? Security controls will sometimes present bumps in the user experience, but we want to continue providing a high level of security while maintaining and improving ease of use for our users on the Heroku platform.