Be careful with seedsigner. I don’t think that have a secure element, so if someone get hold of your signer and knows what they are doing they can get your private key and bitcoin. I would only use it was party of a multisig setup using something like Sparrow.
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Does it need a secure element if it's not storing the seed persistently?
Look into SeedQR and stateless signing.
Verify firmware signatures before running it.
No. With seedsigner you keep your seed phrase backup secure and you don't need to be worried about your signing device getting stolen. It doesn't store the private key on the hardware. Every time you unplug it any private keys you have input are erased from RAM.
You do need to verify the firmware before you use it. The recent security news involving seedsigner used modified firmware. Store your seedsigner securely. If you suspect someone has tampered with it, erase and reinstall the firmware.

GitHub
GitHub - SeedSigner/seedsigner: Use an air-gapped Raspberry Pi Zero to sign for Bitcoin transactions! (and do other cool stuff)
Use an air-gapped Raspberry Pi Zero to sign for Bitcoin transactions! (and do other cool stuff) - SeedSigner/seedsigner
The Seedsigner is stateless. Disconnect the power and all seeds are erased from RAM. After booting it up you can also remove the SD before loading any seeds.