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On Discord I had recommended NewPipe which is a full youtube-like frontend, that does not require a YT account, and provides extra features like “background playing” of just the audio, and download button for offline view.
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@Soup had recommended Vanced which seem to be a more advanced/feature-rich alternative (but I did not try yet).
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Quick search for iOS: there is Vanced iOS (did not find NewPipe version).
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While I don’t make use of background playing, I have ublock origin on mobile firefox and don’t have to worry about the ads. I do like that built in download button option.