例えば、まどか26歳、研修医やってます！ep.10
https　　tver.jp/episodes/eppiu6sqbk

動画ゲッター等でmanifest.m3u8のアドレスを調べる

https　　manifest.streaks.jp/v6/tver-tbs/e3cd860f0656432fb1df061d095f9c4a/522b6dc6e59a456daf34e2ca4b4439fc/hls/v3/manifest.m3u8?token=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJkYyI6IjMzMjFkYmM2MGFhYjRjODM4ODg5M2E5MmM4YWE5Yjg0IiwiZWRnZSI6IjlkMDRhYjEyZjQ0NDRjOWZiZGMyZjMyYmM5YTJmYTQ1IiwiY29kZWNzIjoiYXV0byIsImV4cCI6MTc0MjUyNjAwMCwidHRzIjoxNzQyMjg4MjI2LCJ2cDkiOjEsInNtIjoiMzFhNWM5ZTcxNTI3NGI5NGFmNWNlOTFjNThlNjFhZDciLCJwcHciOiI0NzcifQ.qTOObIX4-TqffDbphe0IG9bFRMxIFTvlFyoMs9tLCRs

最高画質で良ければ、以下のコマンドでダウンロードできる。
yt-dlp.exe -i "manifest.m3u8のアドレス" -o "filename.mp4"

-F オプションを付ければ、画質とオーディオのIDが分かるので

ID EXT RESOLUTION FPS │ FILESIZE TBR PROTO │ VCODEC VBR ACODEC MORE INFO
───────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────
ts_AUDIO-0_1-pro_7798b0c985a646ac8caec5abce4cd927 mp4 audio only │ m3u8 │ audio only unknown [und] pro_7798b0c985a646ac8caec5abce4cd927
ts_AUDIO-0_2-pro_7798b0c985a646ac8caec5abce4cd927 mp4 audio only │ m3u8 │ audio only unknown [und] pro_7798b0c985a646ac8caec5abce4cd927
ts_AUDIO-1_1-pro_7798b0c985a646ac8caec5abce4cd927 mp4 audio only │ m3u8 │ audio only unknown [und] pro_7798b0c985a646ac8caec5abce4cd927
ts_AUDIO-1_2-pro_7798b0c985a646ac8caec5abce4cd927 mp4 audio only │ m3u8 │ audio only unknown [und] pro_7798b0c985a646ac8caec5abce4cd927
716-0 mp4 640x360 30 │ ~241.30MiB 717k m3u8 │ avc1.42C01E 717k video only
716-1 mp4 640x360 30 │ ~241.30MiB 717k m3u8 │ avc1.42C01E 717k video only
1462-0 mp4 960x540 30 │ ~492.47MiB 1462k m3u8 │ avc1.4D401F 1462k video only
1462-1 mp4 960x540 30 │ ~492.47MiB 1462k m3u8 │ avc1.4D401F 1462k video only
2334-0 mp4 1280x720 30 │ ~786.32MiB 2335k m3u8 │ avc1.4D401F 2335k video only
2334-1 mp4 1280x720 30 │ ~786.32MiB 2335k m3u8 │ avc1.4D401F 2335k video only
3400-0 mp4 1920x1080 30 │ ~ 1.12GiB 3400k m3u8 │ avc1.640028 3400k video only
3400-1 mp4 1920x1080 30 │ ~ 1.12GiB 3400k m3u8 │ avc1.640028 3400k video only

例えば画質960x540とオーディオts_AUDIO-1_2-pro_7798b0c985a646ac8caec5abce4cd927でダウンロードするには、

yt-dlp.exe -i "manifest.m3u8のアドレス" -f 1462-1+ts_AUDIO-1_2-pro_7798b0c985a646ac8caec5abce4cd927 -o "filename.mp4"

でOK