My favorite is https://stacher.io/. This is what’s known as a GUI front-end for yt-dlp (that others have already mentioned). I’ve tried several other front-ends and Stacher is the best, IMO. A front-end basically puts an app face (graphical user interface or GUI) on yt-dlp, so you’re not having to type in command codes. I use this to download videos I want to watch later (and possibly save) from Youtube, Twitch, and many other sites.

It’s been a while since I installed it, but I believe yt-dlp is already built into Stacher, or Stacher will download and install yt-dlp for you, I can’t recall.

You also need something called ffmpeg, manual installation instructions here: https://ffmpeg.stacher.io/. Further reading on ffmpeg: https://en.wikipedia.org/wiki/FFmpeg, or just do your own search for ffmpeg to learn more about it. It’s a very powerful tool that many video editing programs use, including HandBrake, Blender, VLC, Plex, Kodi, etc. Without it, I believe the yt-dlp download video quality will be worse (maybe 480p max?, can’t recall). Stacher may have an option to download and install this automatically too, again, can’t recall.

As long as you’ve already installed the other part/s needed, you can set Stacher up to tell you what video and audio formats and sizes are available for download, and then choose.

The only other program I’m familiar with is Jdownloader2: https://jdownloader.org/jdownloader2. This is more of a pain to get working properly, but if Stacher can’t get, I’ll try JD2. Do not download it from anywhere other than the official website though.

Otherwise, maybe something here will work for you: https://fmhy.net/social-media-tools#youtube-downloaders -or- https://fmhy.net/file-tools#download-managers.