Can you give an example of a YouTube video where this happens?
Take for example https://www.youtube.com/watch?v=E0ozmU9cJDg
That's a video of a song from the channel of the band that killed the Napster P2P network and software back in the day.
I hear that there is no problem downloading that song with yt-dlp.
Likewise, https://www.youtube.com/watch?v=_FTATjvCJ-Q
That's a video with music from a YouTube channel owned by one of the most copyright lawyered cartoon companies in the world. They successfully made videos of a cartoon mouse stay protected after it was supposed to enter public domain.
Yet, I hear that this video is also able to be downloaded without problem with yt-dlp.
So when these videos are able to download without problem, idk what public videos on YouTube would not be able to be downloaded with yt-dlp.