pip install yt-dlp

from yt_dlp import YoutubeDL


def download_audio(url: str) -> None:
    opts = {
        "format": "bestaudio/best",
        "outtmpl": "%(title)s.%(ext)s",
        "quiet": True,
    }

    with YoutubeDL(opts) as ydl:
        ydl.download([url])


if __name__ == "__main__":
    download_audio("https://www.youtube.com/watch?v=VIDEO_ID")