My sticking point with these has always been SSH agent support: the last time I looked, I couldn't use my Yubikey to authenticate the second hop in an A->B->C sequence with a jump box in the middle. Is that resolved now? This blog doesn't address that use case.
If you're using -sk keys (i.e. setup via FIDO2 on the Yubikey like the article, not PIV) yes you can forward the keys loaded into your agent like normal, with ssh -A.
If you use ProxyJump (-J) you don't forward the agent off of host A and it works with completely arbitrary chains (A->B->C->D->E->F->...)