I was able to get the TOTP MFA method configured in Vault open source using the Terraform vault_generic_endpoint via the code below since this resource supports a path argument.
That resource is specific to a kind of MFA that is only present in Vault Enterprise.
Configuring this shouldn’t be possible using that resource, but there ought to be another resource to do it, and the documentation should be made better so it is less confusing.
I believe there have been no less than three different implementations of MFA in Vault over the years, some Enterprise-only, some not, so there are lots of docs out there which can lead people in false directions.