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Pihole will let you do this

Nextdns or pinole is great.

My situation is far worse. The instructor assigns video that is on YouTube, but the kid would rather watch a different video. The assigned video is boring. It's more fun to watch a normal popular video.

So blocking YouTube won't work, yet most of YouTube needs to be blocked.

Yes, that is pathetic. Kaspersky allows whitelisting specific URLs. So, entire YouTube can remain blocked but specific URLs can still work. I would download YouTube video and then have my kid watch them if it is course related.