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While the above still requires interaction to generate the code it may be more convenient to send a code first rather than acknowledge after the ssh command. 

Of course, there are some commands that do not present dialogs at the console. This would be things such as scp and NX. For these types of commands, Duo will autopush the request to your out-of-band authentication method. If you have the app on a smartphone then the request will go there. If not, then a phone call will be made to the registered number. Clearly, the app on a smartphone is a much better way to handle that. There will be no prompt in your terminal window so you must remember to check your smartphone for the pushed request.

Info

If the pushed request, or the response to it, is delayed then NX connections may time out before they get established.