I'm actually OK with "product placement" ads as long as they don't interrupt the content. It IS annoying when a YouTube creator interrupts the content to say "And now an ad for a VPN which has NOTHING to do with what you are watching or care about..." but I've seen some YouTube creators actually integrate the product being sponsored into their content in a way that makes sense and serves both purposes.
For example, I was watching a "maker" video where they 3d printed some models for the project that were provided by their sponsor for use in the project they were showing you how to make. That type of "advertising" I can support. It doesn't detract from the content or distract, the product is relevant to what you are watching and, as you said, it doesn't track you other than tracking aggregate viewing numbers and how many people skip that section of the video.
Classic examples would be things like Apple paying to have their laptops or computers used as the props in movies. Or a car manufacturer having their vehicles shown. As long as it doesn't take you out of the content and make you feel like you've been interrupted to be advertised to then that's the one and only form of advertising I don't hate.
I guess there's also "opt in" stuff, like the user taking deliberate action to subscribe to a product magazine or newsletter is fine too... emphasis on "opt in" and "deliberate action", however. Nothing gets me to avoid doing business with a company faster than if their "Sign up to your newsletter" checkbox is default checked or, worse, there is no check box and you've been auto signed up and need to unsubscribe. Thanks for punishing me by doing business with you, assholes.
The rest can go away forever and never come back.