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Yt-dlp is the best way to download videos and audio
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yt-dlp is great, but if you need to archive playlists automatically, want a repository, or otherwise prefer a gui I would recommend TubeArchivist.
(Which itself uses yt-dlp)
I use parabolic on PC and Seal (on F-Driod) to download yt videos. Both are just YTDLP with a GUI because I'm not an arch user