Is there an option to turn off two-factor authenticaion?

I am finding two-factor authentication to be very annoying. It requires that I always have two devices on me in order to use the AppStore or any Apple services. Even to post a message in this board, I needed a second device. Requiring two devices to use Apple services is not how I want to use this product.

I didn't read anything that explained how difficult it would be use the device with two factor on, nor that choosing two-factor would be so difficult to switch off.

Is there any way to turn it off?

I understand its has benefits for those who have their devices with them all the time and are holding important information on the devices.

However, the iPad I use stays in my home every day, all day. I'm not concerned that the identity nor any contents are in danger. I would just like to download something like the Amazon Prime video app without having to go get out a laptop. The amount of protection is way too much for my usage.

Thanks for any suggestions you might have.