It won't help you this time, but next time print out each QR code and save them in a secure place. Setting up a new device becomes much easier.

authy has backups. check if it can also import from google authenticator..

pretty sure that would be a security disaster if apps could read other apps' storage. So no, no other app can import it unless a) the app exports it or b) you have root. Also, authy, duo and the like are proprietary apps with a lock-in model. No free clients, no documented protocol. Usually they just tack on some server side functionality for notifications etc. on top of TOTP.