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
If the source is below 320 kbps, even if you find the best converter in the world, you'll get only oversampled bitrates. Low bitrates will always produce low quality audio even if you get your files converted and encoded at 320 kbps Difference is not noticeable on crappy hardware as computer speakers etc, but the difference is huge when using high end systems.
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...