but my paper wallets are substantially more secure than hardware wallets.
That's not accurate though.
FTFY
Sure, but the fact we are even discussing this means your technical knowledge is more advanced than probably 99% of crypto users. Most users would not be able to generate a paper wallet in a secure manner.
I much prefer trusting no one and not having a bill to go along with it.
There is always trust involved somewhere. Unless you built it yourself, you are trusting the manufacturers of your computer hardware, and the shippers who delivered it to you. Unless you designed it yourself, you are trusting the people who wrote your OS and software. It's probably also worth mentioning that Trezor device is fully open source, and hardware wallets in general are subjected to far more independent auditing and attempted hacking than the vast majority of other hardware or software.
I've seen many issues come up with hardware wallets over the years
True, but the majority of issues are from people using them incorrectly. There have also been plenty of issues with paper (or otherwise self-generated) wallets, again, usually from people using them incorrectly. Any method is only as good as the person using it.
Paper wallets can be extremely secure if you do it right.
I agree with you, but the vast majority of users do not have the ability to do it right. I'm also not claiming hardware wallets are infallible, but they can be just as good as paper wallets if also used correctly.
There's a great answer to this question from Andreas Antonopoulos which I think pretty much summarizes my argument:
https://www.youtube.com/watch?v=4fsL5XWsTJ4&t=402