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Once you add a YubiKey to a service, that service itself determines how it is used. For some devices the security and only the security key might be required every time, while others might only require a security key and username and password on new devices, and log you in if it sees the device instead of logging in. This can usually be changed if you forget the currently logged in device. This is beyond your control, and is all determined by the actual service or account itself. A few services give you options to modify it, and you would need to check their help documentation to see.
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