My major grip with the current ads are that they are obtrusive and repetitive.
On broadcast TV, I dont mind ads as much because the shows were written, filmed, and edited with predictable ad breaks in mind. I have a good idea how long the ad break will be and when they happen. Makes it easy to plan bathroom breaks, drink refills, or discuss what we’re watching.
On Youtube, the ads seemingly pop up at random, usually in the middle of a sentence. Sometimes, there will be 2 ad breaks, and other times, there are 4 ad breaks for similar videos. If youtube would make ads consistent (30 second ad break at the half way point for < 10 mins vids; 15 second at break at 1/3 of the way through the video and a second one at 2/3 of the video for 10 - 30 min vids; etc) and content creators would edit their vidoes for these predetermined ad breaks, they would be much more palatable.
I get that the ad pool is based on tracking data/video content, but watching the same pool of 3 or 4 ads makes me less likely to buy something. Throw in some random ads in there, too, to break up the monotony.