Install & Use youtube-dl:

Update (early 2023 / early 2024):
Please use yt-dlp instead. youtube-dl is now dead project with many errors.
Link to install yt-dlp

To use:
Do download with highest video quality and default codec (includes playlists): "youtube-dl "
Check available formats and resolutions of a video: "youtube-dl -F "
Download the wanted resolution and codec: "youtube-dl -f 251 "

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Source | Date: June 12th, 2021

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