Is this module maintained?

Yes, This module is maintained. I would be happy to release a D10 version if you can submit D10 compatible patch.

Oh, good to know.
I haven't tested at all, but here's the automated D10 patch:
📌 Automated Drupal 10 compatibility fixes Needs review

I just saw your profile, You are an experienced Drupal developer. :) I would be happy to make you a co-maintainer if you want to release the D10 version by yourself.

I have made you a maintainer.

thanks! i don't have a need for it yet, but i will jump in if i need it in the future.

Automatically closed - issue fixed for 2 weeks with no activity.

Hi!

I would like to maintain this module. There is plans to integrate DUO in our projects and, looks like, this is only one module that very close to it. Thanks!