4+ YouTube to MP4 Tools
Use YouTube to MP4 tools to save owned, public-domain, or otherwise permitted YouTube videos as MP4 files for offline viewing, editing, archiving, and device playback. Compare desktop downloaders that support quality selection, playlists, subtitles, and common MP4 export workflows.
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Official YTD page says it downloads YouTube videos and converts video to MP4, with additional format and quality options.
Official DVDVideoSoft page says it downloads YouTube videos and converts them to MP4, with playlist, channel, subtitle, Full HD, 4K, and 8K support.

Official product page says it downloads YouTube videos and supports MP4 output, plus playlists, channels, subtitles, and high-resolution video.
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More YouTube to MP4 tools
Why it fits: Official SnapDownloader pages describe YouTube to MP4 support, video downloads up to high resolutions, and MP4 conversion from YouTube and other sites.
Why it fits: Official ClipGrab documentation describes downloading YouTube videos and choosing output formats including MPEG4, making it a direct YouTube to MP4 fit.