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A place to share alternatives to popular online services that can be self-hosted without giving up privacy or locking you into a service you don't control.
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As others have already said, yt-dlp is absolutely the gold standard. It even works in Termux. As for a dedicated Android app, there are apps like Seal which are effectively just wrappers for yt-dlp. Then the open source YouTube clients like Tubular, which are primarily for browsing/watching videos, have a download button on every video.
Seal is my favorite app to demonstrate the power of installing apps outside of Google Play
Android users can use YTDLnis for a nice GUI FE. It's also available for install from IzzyOnDroid.