On YT-DL, there’s several options that may be of interest for you. That is, unless you’ve already found them
The -F flag: provides an overview of available formats, including audio tracks.
The -f flag, followed by a number, selects which format YT-DL actually downloads for you.
youtube-dl -F https://www.youtube.com/watch?v=AA2v7cli1XM
[youtube] AA2v7cli1XM: Downloading webpage
[info] Available formats for AA2v7cli1XM:
format code extension resolution note
249 webm audio only tiny 49k , webm_dash container, opus @ 49k (48000Hz), 2.71MiB
250 webm audio only tiny 53k , webm_dash container, opus @ 53k (48000Hz), 2.91MiB
251 webm audio only tiny 101k , webm_dash container, opus @101k (48000Hz), 5.55MiB
140 m4a audio only tiny 129k , m4a_dash container, mp4a.40.2@129k (44100Hz), 7.06MiB
160 mp4 256x144 144p 52k , mp4_dash container, avc1.4d400c@ 52k, 30fps, video only, 2.85MiB
278 webm 256x144 144p 73k , webm_dash container, vp9@ 73k, 30fps, video only, 3.98MiB
242 webm 426x240 240p 98k , webm_dash container, vp9@ 98k, 30fps, video only, 5.34MiB
133 mp4 426x240 240p 107k , mp4_dash container, avc1.4d4015@ 107k, 30fps, video only, 5.87MiB
134 mp4 640x360 360p 167k , mp4_dash container, avc1.4d401e@ 167k, 30fps, video only, 9.10MiB
243 webm 640x360 360p 177k , webm_dash container, vp9@ 177k, 30fps, video only, 9.67MiB
244 webm 854x480 480p 291k , webm_dash container, vp9@ 291k, 30fps, video only, 15.90MiB
135 mp4 854x480 480p 324k , mp4_dash container, avc1.4d401f@ 324k, 30fps, video only, 17.67MiB
247 webm 1280x720 720p 588k , webm_dash container, vp9@ 588k, 30fps, video only, 32.07MiB
136 mp4 1280x720 720p 649k , mp4_dash container, avc1.4d401f@ 649k, 30fps, video only, 35.40MiB
302 webm 1280x720 720p60 863k , webm_dash container, vp9@ 863k, 60fps, video only, 47.02MiB
298 mp4 1280x720 720p60 1627k , mp4_dash container, avc1.4d4020@1627k, 60fps, video only, 88.67MiB
303 webm 1920x1080 1080p60 1950k , webm_dash container, vp9@1950k, 60fps, video only, 106.26MiB
299 mp4 1920x1080 1080p60 3212k , mp4_dash container, avc1.64002a@3212k, 60fps, video only, 175.05MiB
308 webm 2560x1440 1440p60 5865k , webm_dash container, vp9@5865k, 60fps, video only, 319.62MiB
315 webm 3840x2160 2160p60 19283k , webm_dash container, vp9@19283k, 60fps, video only, 1.03GiB
18 mp4 640x360 360p 330k , avc1.42001E, 30fps, mp4a.40.2 (44100Hz), 18.03MiB
22 mp4 1280x720 720p 778k , avc1.64001F, 30fps, mp4a.40.2 (44100Hz) (best)
To select the mp4 option marked as “best”:
youtube-dl -f22 https://www.youtube.com/watch?v=AA2v7cli1XM
HTH!