If you can get YouTube Premium, it should already have a feature for downloading videos without needing third-party programs or tools. But of course, there are also reliable converters and download tools you can check out here
https://setapp.com/how-to/download-audio-from-youtube. I personally found Downie to be the most convenient. Pulltube is pretty good too. So, check out the different options and see what works best for you.