My findings, the Android FIDO2 support announced last April is for Google accounts only. It seems to work well with my Google accounts but not so for any others. I've created a BLE Authenticator App myself, one that testing so far indicates is compatible across the board. In mine it was necessary to implement full FIDO BLE complaint stack to address the BLE connectivity need.
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As for rolling your own, it’s a very heavy lift, one I would avoid if I were you. In the alternative I suggest a little more patience as I expect by mid-year to see some App options available, perhaps even from the Android and iPhone App stores. BTW, other than for my own efforts I have no indication as to what others may be planning, I just follow the chatter and make educated guesses.