You can check the settings.

But you can also find out which method you are using by looking at the code which gets generated.

Does a new code get generated each time you click a button? -> Counter-based -> HOTP.
OR does a new code generated after time has elapsed (e.g. every 30 seconds) -> Time based -> TOTP.

Invalid (TOTP-)codes are mostly to non-synchronous time between your mobile and the google server. Binance itself works fine for me.