I find the autoplay so annoying because it hides the thumbnail which was carefully designed to communicate why I should click on the video and replaces it with, usually, a talking head or stock footage. Often the video gets inexplicably added to my watch history, and if I do choose to click on it I have to go back to the beginning because I missed the start of the audio
You can disable autoplay at https://www.youtube.com/account_playback, then uncheck "Video previews". It resets itself every 15 days or so, but at least one can have some peace in the meantime.
Are you saying that YouTube just alters your preferences?
I'm fearing the day they'll just remove that toggle for good.
Don't. Nowadays we can just re-introduce it, at least all who read this. iOS, macOS, Windows, Android... All have browser extensions, all can be modified.