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Yes!
The current bark sdk allows developers to bring their own wallet. It is possible to board, offboard or exit directly from nearly any onchain wallet. The sdk uses psbt's which is a common signing format that most hardware wallets support.
However, securing all your offchain coins by a hardware wallet is a technical stretch and I don't see much value for it. You don't need the same level of security for a spending wallet as for the your life savings
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I was looking at satsigner a little. Do you see a future where people have an Ark wallet integrated with their cold storage wallet?