I have found that using YTDLP, (a fork of YT-DL) with no throttling works flawlessly.

I recommend using a frontend: https://www.reddit.com/r/youtubedl/wiki/info-guis/#wiki_gui.... GUIs can be better in this situation since they show you all the cmd line options like -embed-metadata, -embed-chapters, and show you all the resolutions you can download at, I would really checkout a frontend if you plan to download multiple files or a playlist