Right-click in Finder, hit Copy Path, paste it into Terminal or wherever you need it. A native macOS extension, just 34KB.
Download for macOSmacOS can technically do this — if you go to the Edit menu and hold Option to reveal a hidden "Copy as Pathname" item. That's two hands. PWD Finder puts it in the right-click menu so you can keep one hand on your coffee.
Built in Swift as a native Finder extension. Runs only when Finder is open, and stays out of your way completely.
PWDFinder.zip and unzip it.PWDFinder.app to your Applications folder.