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YouTube is doing everything possible to stop people using tits content. You can find free programs to download videos with 4K Video Downloader. However, you will always see the label of this program in the center of the screen (over the video file) when you get the result.
I don't really download, but I do use Newpipe on mobile.
I use ANT video downloader for Firefox
I use Avast (virus protection software) to download YT videos. It has an extension that allows you to do that in it's Safe Browser version.
I use youtube-dl with my own frontend (but I made it for crunchyroll, you don't really need anything else for youtube).
Just download youtube-dl.exe and, if you want to be safe, put ffmpeg.exe in the same folder.
Open terminal in the youtube-dl folder
. /youtube-dl.exe url

Easy and fast and it always work... If not just update with youtube-dl.exe - U. And you can even get subtitles.
Video download helper was good but now they ask you to buy it or they will put a watermark in the video (I only keep it to get a link to download with Youtube dl when I use a not supported website... I never download anything with it).
Everything else usually is limited and only work for a small amount of time.
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Spectre: I like to do it the old fashioned way by setting up the screen and going over each frame with tracing paper drawn by hand.
Rotoscoping, I recently learned that term due to On-Gaku: Our Sound.
Tampermonkey (a fork of Greasemonkey, although I can't remember why I switched) with a script called ViewTube.

I like it because it;s easy to toggle on and off, it adds download options to the Youtube page itself rather than having to copy URLs, and can download just audio (for when I want to turn RPG streams into podcasts)
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BlackMageJ: Tampermonkey (a fork of Greasemonkey, although I can't remember why I switched) with a script called ViewTube.

I like it because it;s easy to toggle on and off, it adds download options to the Youtube page itself rather than having to copy URLs, and can download just audio (for when I want to turn RPG streams into podcasts)
Huh, it's odd how this script is compatible with an obscure browser, but it wasn't given any thought for users of Edge (which comes pre-installed on Win10).

It has become my favorite browser (it's miles better than Internet Explorer, another Microsoft application), for PC.
Few days back, I used YouTube vanced to download videos. This app has numerous advanced features, including easy to swipe, playing Ad-free videos. These features can help viewers swipe the screen to adjust the volume and save from missing out on any video part.

Sometimes, advertisements on Youtube cannot be skipped by viewers, resulting in massive interruptions when watching a favorite video. With the help of this app, viewers can enjoy their favorite without any boring ads.
There are certainly more features of this app.

Have good luck!
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Timboli: As many have said, youtube-dl.exe is the one that gives you greatest control, and can be used for many front-ends out there or programs that support it like mpv.exe.

If I just want to watch a youTube clip, I find I get much better performance and control using mpv.exe with youtube-dl.exe. I've even created an assistant program for them, that grabs the URL from your clipboard or you can paste into an input etc, and it's a ready reference for all the mpv.exe shortcut keys. That's generally how I watch all the videos at GOG.

P.S. If anyone wants a copy of my MPV Assistant program, just sing out and I will upload to GitHub.
Yes,It's great way!
I will close this thread as there is no active discussion and it summons spam bots. A lot of spam bots :D