In this link, you will find the 35C3 presentation that discusses and demonstrates how popular hardware wallets can be hacked - https://wallet.fail/

However, do note that physical access to the hardware wallet is necessary for such an attack to even take place. Some hardware wallets ensure that a physical attack will erase all the data contained within it. Hardware wallet makers ensure that they provide secure solutions to every form of attack, such as authentication to assure you that the device you receive has not been compromised on the supply chain or hidden wallets to circumvent a $5 wrench attack. Air-gapped hardware wallets that use QR codes for transactions are also available. Hardware wallets like ColdCard, Ledger, Cobo Vault use a secure element that ensures that your private key never leaves your hardware wallet, even if your phone or software is compromised.

Hardware wallets are not 100% immune to hacks especially when it involves instances where someone else manages to get their hands on your seed phrase because you failed to store it somewhere safe.