Out of the box, I am not sure what you mean by custodial. To my knowledge, Tapsigner is non-custodial and functions with NFC. Can you elaborate?
Tapsigner
Doesnt work if user doesnt already have Nunchuck wallet. If they already have it, problem was already solved. You cant generate wallet for the user. Thats trusted setup.
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Its not a wallet, its just another key. Cool for very advanced user but not my target audience.
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