I'm using yt-dlp, and a very small change really made me go "cool" is Color numbers.. I just wish for functions I could pick mid 720p'ish as a setting that includes audio+video, and not have to pick the audio and video formats. Theres a worst and a best option, but I'd want a middle quality to save space.
From my reading of it, doing this would work for what you want:
-f 'bv*[height
[0] https://github.com/yt-dlp/yt-dlp#format-selection