Revanced allows you to patch the official Android YouTube apk to enable this feature alongside many others, including a block, Sponsorblock, and dislikes.

https://github.com/revanced/revanced-manager

Rossmann's Grayjay app offers the same functionality in a separate standalone client. It has a paid pro mode, but is free software. I use this on devices that I haven't signed in with Google.

https://grayjay.app/

The real reason why sideloading is soon to be blocked by Google, along with NewPipe.