I'm a YouTube (Red? Premium?) subscription so I don't see ads, but I'm very pleased to see SponsorBlock-like services spreading. Would love to see it for podcasts.
Overcast (iOS) supposedly can block ads and skip intros/outros. I haven’t tried using those features though. It also blocks some audience-measuring redirects.
It does have configurable “skip forward” and “skip backward” _times_, and will skip to and resume from between words instead of inside words - so it’s easier to manually skip than in some other apps - but I don’t think there’s anything automatic.
[Edit: Oh! It can skip a configurable amount of time from the start and end of playback of any podcast! It’s still manual though.]