https://github.com/ytdl-org/youtube-dl

youtube-dl is a way of getting videos off of youtube and some other sites. I've successfully used it on soundcloud to download Trillbillies and And Introducing episodes that weren't normally downloadable, but I haven't tried it elsewhere.

You run it through command lines instead of browser add-ons like other downloaders I've used in the past, which makes it seem intimidating at first if you aren't accustomed to it. Once you get the basic functions, it's pretty good though. You can even download whole youtube playlists in one command.

Here's a "cheat sheet" a person wrote for using it: https://sachithmuhandiram.medium.com/youtube-dl-cheatsheet-bcc0782e7124