The SponsorBlock extension does a good job of skipping inline YT ads when watching on the site.
It's the superior Youtube experience that, funnily enough, is not available on paid platforms like Apple TV.
https://github.com/dmunozv04/iSponsorBlockTV
>iSponsorBlockTV is a self-hosted application that connects to your YouTube TV app and automatically skips segments in YouTube videos using the SponsorBlock API.