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yt-dlp with ffmpeg should download the highest quality as mentioned in this comment, https://www.reddit.com/r/youtubedl/comments/uba0yh/comment/i65mzm3/?utm_source=reddit&utm_medium=web2x&context=3
I like TubeArchivist, which uses yt-dlp. I can set it up to grab things on a schedule, get the subtitles I want, etc.
NOTE:
The number of mentions on this list indicates mentions on common posts plus user suggested alternatives.
Hence, a higher number means a more popular project.