I've used many video downloaders before: atube catcher, 4k downloader, jDownloader, and currently using youtube-dl. I can't download videos, this for example, while still keeping their online chapters intact, like part1 is "intro" lasting from 00:00 to 00:45 and so on. So far I tried these parameters with youtube-dl
Filesystem
--write-annotations --write-description --write-info-json
Thumbnail images
--write-all-thumbnails
Video format
-f 'bestvideo[height<=720]+bestaudio/best[height<=720]/worst' --merge-output-format mp4
Post-processing
--add-metadata --embed-subs --embed-thumbnail
Also tried requesting the mkv video format (thought maybe it was built into it) didn't help tho.
I know these options don't really say anything about sections but I'm trying to get as much metadata as I can