There is a sequoia, which has a gpg chameleon and looks promising
overall.  I think in some future it can substitute gpg at all.

https://sequoia-pgp.org/blog/2023/04/08/sequoia-sq//

IDK, what is a status of hardware smartcards support, but probably it
should be some initial work done at least.  Plan to try it out, when get
some spare time.

-- 
Best regards,
Andrew Tropin