i have only a single kind of youtube ad that doesn’t go immediately into the mental trashcan, and that’s in-video advertisements that are short and chill and to the point, and contextually relevant.
Like a retro gaming channel that ends videos with a clearly stated ad for some reasonably priced NES controller replica that they actually hold in their hands and say “been using it for a few weeks, it’s nice, check it out, bye”.

It’s not pushy, it’s something people might actually want to buy before seeing it, and maybe most importantly it should be a physical product.