However, if my BTC were instead in a hardware wallet at the time of the fork, would I have had no way of ever claiming the new forked coins? Because, as I understand it, there is no way to retrieve one's private keys from such devices?
Not exactly true... the keys are never given up by the device... but you have your (24 word) seed mnemonic... which can be converted to addresses/private keys if you know what you're doing and willing to accept the risk of entering your seed into a computer...
DO NOT do the following unless you fully understand and accept the risks of doing so- Create offline copy of
https://iancoleman.io/bip39/ (disconnect from network or even better use live usb/cd with no networking to lessen risk of seed/private key leakage)
- Open up the Mnemonic Code converter in webbroswer
- Enter your 24 word seed
- Click BIP44
- Read addresses/private keys at the bottom page
- Change "External/Internal" from 0 to 1
- read CHANGE addresses/private keys at the bottom of page
Yay... compromising your hardware wallet seed for the sake of a few shitcoins! #freeMoney