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Chromecast. I can’t imagine watching videos on my phone regularly.

Try SmartTubeNext (if your Chromecast is an android TV).

I want to be able to control youtube on my TV with my phone.

If I were to, say, plug in a laptop to an HDMI port on my TV and run Brave on it. Is there any way to easily control playback on it with my phone? I.e. send videos to it, pause, skip etc. Some way of mirroring what I am doing in Brave on my phone?

you could run kodi or similar on the TV, and push videos using a remote app.

I'd suggest using KDE connect, if you really want to use a browser on the TV. I just use a $20 Logitech wireless mouse/keyboard personally.

There used to be youtube.com/tv but they killed it

And NewPipe via F-Droid if you already have the link and just want to watch the video (no recs, etc.).

The app is less buggy. That and chromecast are the two reasons I use the app.