It’s possible to spend on chain using this wallet I think:
https://github.com/BenWestgate/BailsWhich is great. I’m going to try it out but looks like it might require more shares than I’d personally like to manage.
In
@Stephan Livera podcast with Polestra it sounds like you can use a regular hardware signer, but I think the co-ordinating wallet is key. I won’t be trying this with a lot of funds but will eventually get round to it!