You can import data from any hardware or software wallet to Koinly.
The only thing to keep in mind is that unlike crypto exchanges a wallet does not have any API key but there are still ways to automate the data import.
Here are your options (pick any one of these):
Create a separate blockchain wallet in Koinly for each of the coins that you hold on your hardware/software wallet. Every coin operates on a separate blockchain so if you have your coins public address/key (and Koinly supports auto-sync for it) then you will be able to enter this address/key when setting up the wallet. Learn how to find your public key/address.
If your hardware/software wallet allows you to export a CSV/Excel file with your transactions then you can simply import that file to Koinly.
Example: Setting up Exodus wallet: