You say that the email should be considered to be from YouTube, because it was originally created and signed by YouTube. In your model, the fact it was received from some unknown third party is non-notable.
I think it's the most recent hop that matters. Just because the original content of the email came from YouTube does not mean that it should be allowed to claim a @youtube.com From address. It should have a @robtoledoyour.com address, because that was the nearest hop in the forwarding chain that Gmail can verify (e.g. via TLS).
And then, since the email is "from" robtoledoyour.com but claims to be from YouTube, it should be discarded (or at least sent to spam).
As you note, this would break use cases that depend on DKIM to allow relaying email through unrelated third-party servers. I think that's fine, because I don't think third-party relays should be allowed to claim the identity of the original server.