I found this person who has a similar issue and resorted to using some older version of a specific wallet which seemed to allow him to move the tokens without going through a firmware upgrade: https://www.reddit.com/r/TREZOR/comments/bu89ty/old_trezor_firmware_not_allowing_ethereum/

Specifically, he talks about:
Having lost the seed, the situation is pretty dire (we should always remember that having a hardware wallet does not save us from having to pay attention to the weakest link: the recovery seed storage itself). The work around may be that of searching for older (safe) versions of third-party wallets that link to Trezor, but that do not require the firmware to be up-to-date.