https://en.wikipedia.org/wiki/Invidious

> Invidious is a free and open-source alternative frontend to YouTube. It is available as a Docker container, or from the GitHub master branch. It is intended to be used as a lightweight and "privacy-respecting" alternative to the official YouTube website.

There are multiple online mirrors, some with web download that even works on iOS.

https://gonzoknows.com/posts/Yattee/ & https://apps.apple.com/us/app/yattee/id1595136629

> Yattee is an advanced video and audio player that can be used to play local and remote files and media links. It is available on the Apple App Store and is marketed as such. However, its core purpose is to function as an ad-free and sponsor-free YouTube app, allowing users to watch and subscribe to any YouTube channel. Due to the strict terms of service of the Apple App Store, Yattee cannot advertise this aspect of its functionality.

If you are interested in using Invidious, you might be interested in FreeTube (which can be set to use Invidious API) too.

https://freetubeapp.io / https://github.com/FreeTubeApp/FreeTube