I did not do a lot of debugging on this, but I have set up gpg signing on git commits on my global git config. This is backed by a yubikey with its openpgp feature. It requires a tap to actually generate the signature.
When running tuf-on-ci-delegate with this setting, it just blocks after the sigstore OpenID verification (and it also breaks the Yubikey PIV method, as the Yubikey does not switch modes fast enough) without any user interaction triggered.
A nagging suspicion is that it has something to do with this being triggered from a sub-process that does not have a TTY attached (?)
I could unblock it by triggering a TTY-backed signing event (opening another terminal and doing a git commit, then cancelling it), then tapping the Yubikey.