I will say I'm probably somewhat biased as, we went through YC, and yes if you don't want to be VC-backed, then don't do it. Maybe the title should be "You shouldn't raise Venture Capital, buy my course instead!"
That being said, the beauty of YC, SAFEs, and seed funding is you don't have anyone on your board. You get to decide what you want to build, how you want to build it, etc... The point of joining YC and raising money is because it helps you figure out what to build/not to build, and to build faster, and YC is REALLY good at helping you sort that out.
There are founders out there who realized they've built a product that doesn't have the unicorn potential and pay back their investors. I'm pretty sure Daniel worked at Gumroad for a bit, and that's what Sahil did.
Again I find it really hard to take advice from folks who have "something better" to sell you.