Sponsorblock does exactly that (and a bit more). I can't watch youtube without it nowadays. Subscription feed -> yt-dlp -> mpv with sponorblock. If this ever stops working I'm not suffering through ads, I'm ignoring youtube as a platform.
You can use yt-dlp with sponsorblock timings directly [0] to get rid of all the sponsorship segments from the final video, no need to use it later via mpv.