PSA: Not all paper wallets are created equally.
Securely generating and writing down a 12 or 24-word seed is a good way to do cold storage. Third party paper wallet software, printers, using raw private keys, etc. -- these are not.
I never thought that was a realistic way to characterize things. To me, hardware wallets always occupied a niche between desktop wallets and cold storage. They come with their own set of security trade-offs and risks. Hardware wallets are useful for new users who would otherwise get their bitcoins stolen, but I think most users who are serious about security are using general purpose hardware to secure their bitcoins -- at least for their long term cold storage.