First, note that on your own site, the description of key generation is wrong. That's not how "U2F works", that's how a particular implementation derives keys. U2F tokens are free to create keys any way they like; it's opaque to the RP.

Most critically for u2fzero, the MCU sees the enrollment key. On enrollment, a new key is derived, and the nonce used in derivation is sent to the site as the key handle. On use, the key is re-derived from the returned nonce, given to the MCU, then loaded into the ATECC508A, then the "secure counter" is read and a signature generated. I haven't looked in detail at RMASK vs WMASK but it smells like they are not useful.

In the yubikey, the entirety of this code is implemented inside the secure element. In the u2fzero, except for the actual signature itself, the important parts of this code are executed outside of the secure area. The security of the key derivation is good because it prevents one-time access to the device from compromising future enrollments, but for the use case you propose (lost token) it isn't secure since the strongly-generated already-enrolled key is revealed.

A simplistic correction would be to limit the privacy preserving aspect of U2F to 16 sites (the key slot limit on the ATECC508A). This is a fine compromise since there are only 11 sites that accept U2F, per https://www.dongleauth.info/dongles/ . On the 17th reg, u2fzero can refuse to register, or it can cycle back to the 1st key, or it can keep reusing the 16th key, or it can regenerate (and thus unenroll) a key, or other choice.

Rather than a wrapped key, or nonce, or other data for key regeneration, the handle returned to the site is just a key slot index. In this way, the key is generated by and never leaves the ATECC508A.

So, if you're following along, you now realize that this defeats your backup methodology, since the keys would not be wrapped and passed back and forth between site and token. You could pre-generate all the 16 keys outside of the device and program 2 of them identically.

Or you could use the ATECC508A internal DeriveKey command. This can use just the appid as nonce and doesn't need an actual random nonce. This doesn't limit the number of sites that can be registered and also allows duplicates (by programming the same master key into all equivalent devices, along with a starting counter value). The handle in this case can just be a static token-id. If you wanted multiple users to actually register different keys using the same token, then you should add a random nonce. This prevents a site from identifying 2 users sharing a token, and learning something about their relationship. Or a site from identifying 1 user with multiple accounts. But the nonce isn't a security aspect per se, just privacy.

Regardless, your desired use case cannot be met "securely" with the ATECC508A, because the counter is not secure. Anyone with access to the lost primary token can just set whatever counter they like. This is mitigated by the token being a 2nd factor. I would further mitigate it by burning the JTAG fuse, and potting the ATECC508A. Then the MCU can't be reflashed or read out, and the ATECC508A can't simply be popped off trivially and put on a new custom board. If you mix a partial static data from the MCU, along with random nonce, as part of key derivation, then the MCU and ATECC508A pair are married and you have to depot both of them and now the attack is hard enough (beyond amateur hour) that you should have plenty of time to enroll a new token.

Let me just also laugh at the u2fzero site: "It is implemented securely."