Vinegar app for Safari on iOS/iPadOS/MacOS has a very clever feature that’s called “switch to ad skipping”. It basically deceives YouTube by telling it you watched the ads and the videos load perfectly.
Also, UBlock Origin on Firefox’s been doing an excellent job at removing ads from YouTube.
Waiting for third parties apps to pop up, but so far I’ve been pretty satisfied with “wefwef”. The future looks very promising!