I’m more interested in understanding what it will take to replace YouTube entirely with a decentralized solution that can’t be censored.

No government or corporation has the right to decide who may speak or what they are allowed to say.

For example, just in the last few days YouTube tried to censor @WIONews, and was forced to relent as millions of Indian citizens protested via #YouTubeUnblockWION: https://www.youtube.com/embed/WQ7vy2JxH0U