We let ours decide what to watch / play out of a handful of things we've hand-picked as OK (such as Daniel Tiger's Neighborhood or Super Simple Songs), and iOS's guided access mode has been a godsend for this.
Super Simple Songs is on YouTube and has great content for kids, but I refuse to use YouTube Kids as we tried it once and couldn't control it well enough—weird videos started creeping in almost immediately. So, we use regular YouTube and disable autoplay, which we have to manually check every single time, because YouTube has randomly re-enabled it for us a couple times which led to the weird videos again).
We do limit her screen time (and consequently, ours), but trying to keep her away from them 100% of the time? That's honestly not realistic, nor fair.
At our daughter's previous day home, the provider started letting her watch a YouTube channel called babybus (against our previous agreement of no TV, which was the straw that caused us to quit her service). At first glance the show is innocent enough, it's just a bunch of cartoon characters singing and going on adventures. But if you actually pay close attention to some (not all) of the episodes, its a weird fear-based morality show from China that threatens death if you don't behave a certain (rather authoritarian) way.
The frustrating part about it is that there is a ton of really great kids' programming on YouTube that simply wouldn't be possible without it. It just takes an order of magnitude more effort to sort it out than pretty much any other service that provides content because you have to curate everything yourself.