Actually VP9 and Vorbis are better than H264 and AAC. VP9, Vorbis can have better quality in same bitrates compared to H264,AAC. and WEBM and MKV are just containers and they both have same codecs inside in youtube videos. If you are downloading videos for offline purpose then you should stick with vp9 and vorbis (webm, mkv)
Open YouTube in Samsung Internet browser (available on play store) and just long press on your video and select download video and your done.
I have tested a ton of audio grabbers and for audio i found that Media Human is the best and easiest way to do it... And it's free
i am using riplay it free, but have some weird bug from time to time cloud.woelkli.com/s/kYB4Z9mesXpyXrc
or if people don't want to go with a GUI (or if they want sort of a guarantee that it's up to date), there's always the option of using youtube-dl in termux
I agree Youtube-dl is the best YouTube downloader, however the list mentioned by CHEF-KOCH mentions some Dutch online services that are no longer supported unfortunately (DRM related). Slightly off-topic, but if somebody knows of a way to download some current Dutch channels, please share...
I've been using Snaptube for many years and am quite happy. I purchased the premium upgrade. The only thing that is a minor niusance is the Lark Player. I've never had the need to install it.