Yes, in My Account → Two-step sign-in, a tab after Account details. They scan the QR code with an authenticator app, type the six digits, and get ten recovery codes. After that, signing in on the My Account page asks for the six digits and then goes back to My Account, or to the page they signed in from, with the cart they saved to their account.
The tab is there while Settings → A second step requires a second step of anybody. With Required of set to Everybody with an account, a customer who has not set one up is kept on that tab while they are in My Account, with Account details and Log out still open. The cart and the checkout are never held up by it. With People who can change the site, customers may set one up but are never made to.
WooCommerce keeps customers out of wp-admin, so before the tab existed a shop set to Everybody with an account was not asking its customers at all. A shop that had the plugin before the tab has it off after updating, and the Dashboard offers to switch it on. Add a Two-step sign-in tab to My Account on the Settings screen does the same.
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