This solution is not clear about OTP for Linux:
https://support.f5.com/csp/article/K23653432
I never had any project that I had to play with the Linux version, so not sure about the options there.
Basically, you need to send the username + password + token, however, I am not sure if you can send the token via CLI.
If that is not possible, you can ask the user the token together with one of those fields.
As passwords can have any characters, the user could send the username@token, you then split that in the APM.
Have a look at what options you get, if you need more help let me know.