There’s a lot of downstream applications that do just use yt-dlp behind the scenes. I’m pretty sure that’s how Invidious’ download function works. It also supports a metric shitload more services: https://github.com/yt-dlp/yt-dlp/blob/master/supportedsites.md

Not one in particular, just the first thing that came to mind since I use it a lot on linux. I even use NewPipe on android, didn’t even remember it had an option to download