get the extension, export the cookies.txt file to a folder, then run youtube-dl in that folder with:
youtube-dl --cookies cookies.txt https://youtu.be/id
it works as of right this minute [1] and in my experience that cookie continues to work even if you log out of your account in the browser and log back in etc
i'm trying to imagine a way to have a more permanent solution, maybe if youtube-dl provided some kind of login prompt type thing to enter some your credentials to virtually log in, although i imagine that would start to be another cat and mouse game of it working and then not working.
[0] https://chrome.google.com/webstore/detail/get-cookiestxt/bga...