There are a few things you need to do. First, get VDH 8.1.0.0a5 beta for Firefox. (There are no betas for Chrome & Edge.) When you install this version, you get a congratulations screen. Don't ignore it. Read it carefully & follow the instructions. For further explanation of what it says there, search for a thread on here with the title, "How to download from YouTube." Look for a post within that thread dated July 17. Follow the instructions in that post. Even if you've done that with earlier 8.1.x versions, you have to do it again.
Second, get CoApp 2.0.4.
Where can you get those? Look here:
Be sure you expand the entire thread. Then search for "various pieces" within the text of that thread. That will give you a link to instructions showing you where to find the various pieces of VDH, including the VDH betas & the releases of the CoApp. On the CoApp page, be sure you click the item that says, "Show all xx assets."
Third, use the new Side Download function.
You can see my results with all of that in the attached images. (I'm not sure what order Google is going to attach the images in. To get the story in chronological order, read the images in ascending numerical order of file name.) It's a bit hard to tell if audio is synched with video when the characters are animated people. You can't accurately match the voices you hear with the lip movements you see. Plus, as an added complication (at least, for me), they're all speaking Japanese. That's an assumption since I don't speak Japanese. In any case, a skimmed through this file & it seemed like the audio synch was fine from the beginning to the end of what I downloaded.