You can create a file in ~/bin named termux-url-opener. It’ll be executed when you “Share” a URL to Termux. In the script you can go wild. Setup a menu with options:

1. Download video to a folder.
2. Download a video to a hidden folder.
3. Download just the the audio then convert it to MP3 with your desired quality.

Stuff like that.

Less technical people can simply install Seal:

https://f-droid.org/packages/com.junkfood.seal/

Honestly, Seal is just easier, and even supports custom command templates, so it does literally everything you could want.

But Termux can do more than just yt-dlp.