Personally, I use Tubearchivist.
There are others though.
I've transferred to TubeArchivist[0] for my Youtube needs. It downloads my subscriptions for me, gives a much cleaner front-end for watching and integrates with Sponsor Block. It has the added benefit of removing other bad parts of youtube as well: tracking, advertisements, bad comments, recommendations, MrBeast-style videos and so on.
For the YouTube you can try this: https://github.com/tubearchivist/tubearchivist
I've set it up on my NAS and I've downloaded a couple of videos, but I haven't used it extensively yet.
An excellent self-hosted tool for data hoarders that want to preserve YouTube content: