This is what I use for my personal archive:
yt-dlp -f bestaudio/best --extract-audio --embed-metadata --embed-thumbnail --recode opus --audio-quality 0
It does recode to opus but since the bestaudio is usually in that format already, you don't need it most of the time. You can skip the --recode opus part if you want to. I keep it because I like having a "uniform" collection. You can probably change the bestaudio/best part to simply bestaudio without losing much as well.