Update:
There's no app that I can find for the Samsung Smart TV yet, and my FireTv stick died. I've been okay using the Samsung's apps for everything else without a fireTV stick, so that's been a good thing.
There are tools for installing Android apps onto the FireTv stick. i did that before for some movie server app -- can't recall the name. There are instructions online for installing the DuckDuckGo browser (from now on "DDG").
Anyway, I'm able to use my Samsung Galaxy phone's Smart view in settings to display my phone on my TV. I launch the DDG browser, navigate to the YT site, find the video I want, and just play as normal in the Duck Player.
If I want to interact with the YT video (likes, comments, etc.) there is the normal YouTube logo on the bottom bar on the right. When I want to go back to the video, I just hit the phone's back button 1 or 2 times.
Every single video I've watched the last 2 days were 100% ad-free!!
I can't use the TV remote to control the player on the phone -- I use it for volume only. The phone is within reach, so not a biggie.