Perhaps instead of using youtube-dl or yt-dlp, you may enjoy some client such as freetube more, as it has a lot of the benefits of those tools, but without ads, and with sponsorblock/thumbnail correction, and other nice customizations. It also enables you to create playlists and whatnot.

You can hit a button to download directly from a video’s page as well, though I think that feature needs some love from the developers (you don’t get a loading bar on download).