Providing you with the quickest and best answer to this question. There is only one way to download YouTube videos of the best quality from third-party video downloader sites like 4K Video Downloader and more. Also, users can select the quality of the videos they want to download (like 720p or 1080p) and mp3.
You can only officially download with YouTube Premium or your own uploads via YouTube Studio. For other videos, tools like 4K Video Downloader or yt-dlp work, but only use them for copyright-free content.