I think people who have security worries about hardware wallets ain't looking hard enough. the whole point of them is that they're as secure as you can get. what i'm less confident of is longevity. if I want to park coins for many years I wouldn't trust flash memory to do it.
The longevity solution is rather simple and has been an addage many people have been taught as a kid. That is, "don't keep all your eggs in one basket. The neat thing about bitcoin though is that you can keep all your eggs in multiple baskets via backups. Yes, I would even back up a hardware wallet to a few different places if it had enough in it to be worried about.