Same problem and I think I found the solution.
Open Accessibility within Settings.
Open the Authenticator app from here and toggle off Authenticator Shortcut.
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Woke up this morning to the authenticator icon always on my android screen. I can move it, but cannot remove it. Searched all settings for a quick access or always on screen setting. No luck. The icon does nothing, you cannot click it to access the actual app. It just sits there in the way. Constantly moving it, and it appears in all screen shots that I take.
Anyone have a trick to remove this? Seems to coincide with my phone updating authenticator overnight.
Same problem and I think I found the solution.
Open Accessibility within Settings.
Open the Authenticator app from here and toggle off Authenticator Shortcut.
Spot on, thank you!