If you add a redirector plugin for your browser, you can add a capture for something like this:
https?://(.*?\.)?youtube.com/(.*)
And push it to something like this: https://farside.link/invidious/$2
For example: https://farside.link/invidious/watch?v=Ag1AKIl_2GM[0] https://github.com/iv-org/invidious