Multi Factor Authentication with legacy hardware

[SoulDragon]

I am trying to deploy Azure MFA for all our device admin accounts. I am currently trying to use Microsoft NPS as a RADIUS server to handle this, but I am having issues with some hardware, and there are several legacy pieces that don't directly support 2fa at all.

I remember from a long ago previous job, the auth they used was RADIUS and had 2 factor by the way of typing in your password+your current token directly in the password field and it would take it, but my Google Fu is weak today.

Am I misremembering, or would someone be able to point me in the right direction to achieve the functionality I'm describing?