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Yt-dlp is the best way to download videos and audio
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If you use it frequently, I suggest getting a GUI that have profiles or remember options so you don't have to mess with commands all the time. I wrote my own little command line wrspper which is Windows only since I don't have Linux to test on. Though it shouldn't take much effort to add support.
Makes it much more convenient when you don't have to specify things like archive (ignore duplicates), filename to be "artist - title" (where possible), download destination, etc. Just alt-tab, Ctrl-v, Enter. And the download is running. And mine also has parallel downloads and queue for when you got many slow downloads.