FOSS-alt to Authy?

I currently use Authy on my android and my Linux system.

It syncs every new authenticator between my devices but I dont want to trust companies with my security anymore.

I host a nextcloud instance on my homelab. Does anyone know a good FOSS authenticator that can use my nextcloud to sync between Linux and android? Provided that it is available on both of course.

Thanks for any input!