I've been a part of designing these types of processes and this is all argued about forever. The alternative is the e*trade approach where I can call in, give my DOB, Address and last 4 digits of my social social and I get a new MFA token immediately. No PIN, no signature nothing.
What company did you say you were designing security policies/processes for...?
The process we use now is automated but customers don't like having to find recovery pins, billing information so a lot of them still call if they get a new phone and their TOTP isn't there. It will also fail for various other reasons related to browser fingerprinting and reputation that I won't go into details about.
MFA recovery is very tricky, most websites don't even let you do it in an automated way for security reasons. If it goes wrong, you've basically broken MFA for your whole site. Banks are the types of places that are going to err way on the side of caution.
Security is important. Security that is implemented badly costs you business.