Comcast has some support for skipping ads. It doesn't work for everything, just top shows from NBC, ABC, CBS, FOX, CW, Bravo, HGTV, Discovery, MTV and TLC recorded after January 1, 2019 in HD. It's enabled by default on their X1 DVR boxes.
The way it works is that if you start fast forwarding, it automatically stops and switches to play when you reach the end of a commercial break. You watch normally and when a commercial starts just hit FF a few times (the first hit starts forwarding, subsequent hits switch to faster FF speed).
I dropped cable in the middle of 2020. My recollection was that it also only worked if it had been at least 24 hours since the program originally broadcast, but their documentation [1] does not mention any such limit so perhaps they dropped that limit.
[1] https://www.xfinity.com/support/articles/dvr-smart-resume