This is not really a new answer, but it tries to clarify and to explain a little better (or at least differently) why different virtual devices can be considered to be one virtual device
At the moment (2020-05-07) you cannot have two different authentification devices for the same user. (like more than one of the following: a U2F usb key / a virtual device / a hardware device)
However you can install the same virtual device application on multiple devices (mobile phones / tablets / PCs) if you initialize them all with the same initialisation code (QR code)
The Virtual MFA device is just the implementation of the TOTP algorithm ( https://en.wikipedia.org/wiki/Time-based_One-time_Password_algorithm )
each TOTP application has to be initialized with a 'secret' code (the QR code)
So if you scan the same QR code with different TOTP apps, then all of these apps can authenticate (they will behave indentical)
When initializing at AWS you are asked to enter two consecutive codes generated by your TOTP app.
(Just enter them from any of the apps, that you initialized with the QR code.
Or if you are really crazy. create one code with one app and then create another code with the other app. just enter the code that was generated first first)
Afterwards all virtual devices will work and are completely interchangable.
You could even 'archive' the QR code image in a safe place and add other virtual devices later (the QR code contains just the secret required to initialize the TOTP application). It does not expire.