I just discovered something handy. If I click on the Information and Properties, where we can see the streams and bitrates, while a YouTube video is loading, the direct link to the video stream is shown there for a brief moment. After video playback has begun, this direct URL is replaced with the standard short address which points to the webpage.
This URL appears to have the right parameters to download a 360/720 stream at full speed. No need to mess with DASH or muxing, range, throttled speed, or an URL capture tool in browser.
Why isn't the direct link shown at all times?