I've used this before with yt-dlp to extract some video (313 is only the 4k video stream but I assume it would work with videos that have audio streams as well):

    ffmpeg -ss 5:40 -i $(yt-dlp -f 313 -g  https://www.youtube.com/watch?v=3SykjY3GdMs) -acodec copy -vcodec copy -t 20 waterdrop_mountainlake.mkv