If someone is willing to torture you for your bitcoin, then it is pretty irrelevant if you have a hardware wallet, airgapped device, paper wallet, or whatever.
The solution to a
$5 wrench attack, and other similar attacks involving physical force to you as a person is to keep a small number of coin associated with a BIP 39 seed with the passphrase/last seed word being something different than the passphrase that secures the majority of your coin. This will allow you to give something to the attacker while both preserving a portion of your coin and maintaining your safety.
To answer the OP's question, I would not over complicate my cold storage setup. I would choose a HW wallet manufacturer I am comfortable is making a product that cannot easily be compromised, keep my coin secured by that HW wallet, and use the paper card as a backup with the seed hand written on it stored in a safety deposit box.
The problem of this solution to $5 wrench attack is that it is public, any robber could have read and known that.
IMO, hardware wallet could act as baits. One can simply put two or three shares of coins in a hardware wallet both in dummy wallet and hidden vault(or even plus dummy hidden vault for third share) while put the majority of his coins the rest part elsewhere.