Yt-dlp doesn't deal with cracking, but by fetching the files from DRM-free endpoints of a given service. And from what I've seen in issues from both yt-dlp and Grayjay, such endpoints were all removed in recent months for Crunchyroll (and by extensions, neither support downloading from Crunchyroll anymore).
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IIRC Crunchyroll used to be a pirate site so that may be where you heard that? But they've been legit for years.
I would say just look for x265 (HEVC) webrips of your favorite content and throw it on a Plex (or Jellyfin if you don't have any Apple stuff) server. On the flip, if you have all Apple tech, Infuse is a good option, but IIRC it doesn't stream outside your network like the other two do.
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Doesn’t yt-dlp work with hi! Anime? They have everything that cr does and then some.
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