I normally grab a #youtube video via #invidious onion instances this way:

yt-dlp --proxy http://127.0.0.1:8118 -f 18 http://ng27owmagn5amdm7l5s3rsqxwscl5ynppnis5dqcasogkyxcfqn7psid.onion/watch?v="$videoID"

Now it leads to:

ERROR: [youtube] $videoID: Sign in to confirm you’re not a bot. This helps protect our community. Learn more

There used to be a huge number of Invidious instances. Now the official list is down to like ½ dozen.