I finally found out you can use the Android Debug Bridge integration to play specific YouTube videos on Smarttube (adfree youtube app)!

This is triggered when I get home, along with my lights turning on. I have additional actions to set the volume low as well.

You just need to have ADB enabled on the TV and enter it's IP in the integration setup (leave port as is)

Now I am wondering if I can set it up to play my favorite shows in Stremio, starting where I left off last.

action: androidtv.adb_command
metadata: {}
target:
  device_id: 31ecf6603ac8b90769db6a689d0bbeb9
data:
  command: >-
    am start -a android.intent.action.VIEW -d
    "https://www.youtube.com/watch?v=VT0uftcDICg" org.smarttube.stable