They're more than MFA codes though: they're actually performing cryptographic challenge/response.
I mean: the RSA tokens just generate a MFA code. But the bank "card readers", whether they actually read a card or not, do perform challenge/response.
I've got several banks using the same type of card reader: I put my bank card in and respond to a challenge: I enter the digits that the card reader shows me and I can log in.
I've got another bank which provided me a reader: it's not a card reader as its standalone (I don't need any bank card to use it) but it still perform challenge/response.
For example for any wire tx to a new recipient or above a certain amount, I need to enter the amount and part of the recipient's bank account number and sign the transaction.
It's more than just authentication.