Internet Download Manager or IDM isn't just a popular download manager, you can use it to easily download videos from youtube. To download videos from youtube in a single click, you just have add IDM extension in your browser.
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After installing IDM on your browser, go to youtube and play the video you want to download. You should see the IDM download button on top right corner of video. Just click on "Download this Video" button, select format and start downloading! I personally prefer this method. SavefromNet is another browser extension, which can download video directly from youtube.com.
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2. If you don't like to install extension in your browser, then use this below website to download videos. There are many such site.
 a. www.y2mate.com
 b. www.savefrom.net
 c. www.keepvid.pro and many more.
All these website download method are almost same, just copy video url from address bar, and paste it in those website. Among this, y2mate can convert video to audio file.
And just adding double 's' on address bar, you can go to download page. In the video url, just add 'ss' after www. like this- www.ssyoutube.com/...
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3. Build in Apps
There are many apps that is available in the net. Among those I like 4k Video Downloader most. It is farst, it can download videos with subtitle. And last but not least, can download full playlist videos from single links!
There is also YTD and many more apps which can fulfill your purpose.
Thank you for reading!
Have a nice day!