You don’t have to jailbreak, you just have to use AltStore and “renew” the app every 7 days. It’s a bit of a pain in the ass in all honesty but it’s still better than watching ads.
I do sometimes find stuff I wanna watch when browsing through YouTube though, and the uYou app is really good. Even allows me to stream up to 4K and screen off etc.
Yattee is so much slower than uYOU. You can also go to any instance url on safari browser and add it to the homescreen and use inviduous as a webapp. But neither one works as good as uYOU when I'm out on the road.
There’s also Yattee for iOS on the App Store. It uses an Invidious instance and I guess because the piracy isn’t part of the app itself it passes the rules? There are plenty of public instances. It also has SponsorBlock built in.