At one time HD audio got treated differently than non-HD. Then I see references from a few years ago saying that was changed so that all audio was the same. Anyone know what the current standard is?
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Best quality is probably Opus @160k and should be provided for all videos irregardless of resolution. Depending on your client device and connection speed other audio streams (lower bitrate and/or aac or mp3 or vorbis) may be served.
If you want to check:
youtube-dl -F [youtube_url]
To further check a stream download it and analyze using e.g MediaInfo.