Downloading YouTube Videos
Using an App
I prefer using Stacher7, which is a cross-platform GUI application built on top of yt-dlp, an open source project well known for allowing video and audio archiving.
Because Stacher7 is built on top of yt-dlp and ffmpeg packages, you may be prompted to install those command line packages.

Requirements
Ensure there's a check mark in the top right.

If there isn't a check, click on the bubble telling you to install yt-dlp, ffmpeg, or both. Follow the on-screen instructions. If you get errors downloading them from this menu, you can always check out how to install them manually (archived version of article).
How to Download a Video
Paste a URL into the field
Click "Best Av" or whatever button is next to the download button

Select the desired format

Click the download button! Wait a bit, and you'll have your file.
Using the Command Line
If you prefer to use Terminal, you can download and how to install yt-dlp and ffmpeg manually (archived version of article)
I use macOS, so I installed yt-dlp using the Homebrew package manager. It's also available for package managers on other operating systems (e.g. Chocolatey and apt). You can also use a direct download if you'd prefer to not use a package manager (idk why you would tho).
If you're using this method, I assume you can read the documentation over at Github and have used a command line utility before.
Here's two quick commands to get you started:
Download a Video
Download the best mp4 video available, or the best video if no mp4 available:
yt-dlp "video_url_here" -f "bv*[ext=mp4]+ba[ext=m4a]/b[ext=mp4] / bv*+ba/b"
Download Audio Only
Download the best audio file available, regardless of file format:
yt-dlp "video_url_here" --extract-audio --audio-quality 0
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