You don’t have to jailbreak, you just have to use AltStore and “renew” the app every 7 days. It’s a bit of a pain in the ass in all honesty but it’s still better than watching ads.

There’s also Yattee for iOS on the App Store. It uses an Invidious instance and I guess because the piracy isn’t part of the app itself it passes the rules? There are plenty of public instances. It also has SponsorBlock built in.

Here’s the app: https://apps.apple.com/au/app/yattee/id1595136629