Well for youtube it's quite easy, there are only 4 useful parameters that I can think of, the video id v, the playlist id list and index if it's a playlist and the time t if you're sending a specific time in the video. Everything else can be removed.
Here's what uBlock Origin with the AdGuard URL Tracking filter list:
! Youtube
$removeparam=embeds_referring_euri,domain=youtubekids.com|youtube-nocookie.com|youtube.com
$removeparam=embeds_referring_origin,domain=youtubekids.com|youtube-nocookie.com|youtube.com
$removeparam=source_ve_path,domain=youtubekids.com|youtube-nocookie.com|youtube.com
||youtube.com^$removeparam=pp
What's an ad-blocker popup? uBlock Origin never show me a popup.