If you want to make sure you get paid for your content, put it behind a paywall. Yes, the number of users will drop, but you can't have your cake and eat it, too.
Otherwise, ask nicely for donations or Patreon support or do old-fashioned sponsored content, obviously with full disclaimers that the content is sponsored, so people can decide whether they want to watch it or not.
Specifically talking about video ads, look at what Glenn Fricker from Spectre Media Group does on his Youtube channel. He often gets demonitized because he tends to swear a lot. So he asks people to "spend a buck, give a fuck" on Patreon, and he does short sponsor midway interludes in his videos. It's always a short clip of himself talking about the product or service in question, and it's always something he uses himself, he won't advertise something he can't vouch for. So you don't get the jarring cuts to some random ad agency's standard BS video that runs on thousands of un-related videos.
That's how to do it. Part of and related to the channel's content, but also clearly demarcated and made fully clear that it is sponsorship/advertising. And most importantly: No tracking!
