Youtube-dl
https://www.ostechnix.com/youtube-dl-tutorial-with-examples-for-beginners/

Google Chrome
Ctrl+Shift+I
Network – XHR – Filter mpd
right-click – Copy – Copy link address

youtube-dl -F url
example:

youtube-dl -f ‘video+audio’ url
example: youtube-dl -f ‘1001-1503+1002-1504’ url