Yes, I do provide a password on boot, as you said, keys can be extracted from the hardware so that’s not secure, which is why I don’t use the TPM to store the keys.
There are no hooks necessary in the bootloader, as it’s the BIOS which prompts you for the password and unlocks the drive.
And yes, there have been implementation problems in the past, but that’s why the Opal 2.0 standard exists - don’t just buy any random self-encrypting drive, do your research on past vulnerabilities for that manufacturer, and check if there are any firmware updates for the drive (don’t just rely on LVFS).
Also, the common hardware attacks rely on either a SATA interface (to unplug the drive while it still has power) or older external ports vulnerable to DMA attacks such as PCMCIA or Thunderbolt 3.x or below; so those attacks only affects older laptops. Of course, someone could theoretically install a hardware keylogger or something, but this is also why you have chassis intrusion detection, and why you should secure and check any external ports and peripherals connected to your machine. Overall physical security is just as important these days.
But ultimately, as always, it comes down to your personal threat model and inconvenience tolerance levels. In my case, I think the measures I’ve taken are reasonably secure, but mostly, I’ve chosen Opal for performance and convenience reasons.