If you want an online tool, cobalt.tools can rip the original youtube audio if you choose "best" format in settings -> 🎶. It's also FOSS with no tracker/ad garbage so I can recommend it as an alternative for yt-dlp which has been mentioned already.
this post was submitted on 04 Nov 2023
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yt-dlp has the -F parameter to list the available stream formats. (uppercase F to list, lowercase f to select)
I use -f 251 to download the opus audio stream, and afterwards use ffmpeg -i file -c copy file.opus to copy the opus audio stream in an opus file format file (codec copy so without encoding losses).