AV1 with opus audio in an mkv container plays fine on my iPhone and AppleTV.
For me the only missing thing is generating thumbnails for videos that I have in channels-personal/videos. Currently all my AV1 videos have no thumbnail or the broken thumbnail icon, so it's not a great UX.
FWIW, anecdotally AV1 seems to suddenly be a lot more common on youtube. I've always downloaded with the --prefer-free-formats flag with yt-dlp, and have almost always gotten VP9. However in the last 2 months or so I've usually been getting AV1.