Can you get hacked by watching YouTube videos on an iPad?

Unless your iPad has been jailbroken (don’t go there), due to the iPad system architecture, you should not be overly concerned about malware infection per-se. Apps that you download from the Apple App Store have passed through extensive vetting - and can be reasonably assumed to be safe.

However, as with all computer systems, there are still vulnerabilities and exploits to which you remain vulnerable. For older devices, no longer benefiting from regular security updates, the risk of an unpatched vulnerability being exploited increases. If you have a recent model, fully updated to iPadOS 15.5, your iPad is natively as protected from malware as is practicable.

While you iPad is unlikely to fall victim to malware infection, it remains possible to download malware infected files and media. Whilst presenting low risk to your iPad, if transferred to other computers, it is possible to spread malware to other systems.

The majority of threats to which you will be invariably exposed will surface via web pages or embedded links within email. These browser-based attacks can largely be mitigated by installing a good Content and Ad-blocking product. One of the very best and most respected within the Apple App Store - designed for iPad, iPhone and Mac - is 1Blocker for Safari.

https://apps.apple.com/gb/app/1blocker-for-safari/id1365531024

1Blocker is highly configurable - and crucially does not rely upon an external proxy-service of dubious provenance. All processing takes place on your device - and contrary to expectations, Safari will run faster and more efficiently. 

Unwanted content is not simply filtered after download (a technique used by basic/inferior products), but instead undesirable embedded content blocked form download. A further benefit on metered services, such as cellular connections where you data may be capped or chargeable, this not only improves speed but also saves you money. 1Blocker has also recently introduced its new “Firewall” functions - that are explicitly designed to block “trackers”. Being implemented at the network-layer, this additional protection works across all Apps. Recent updates to 1Blocker has introduced additional network extensions, extending protection to other Apps.

A further measure to improve protection is to use a security focussed DNS Service in preference to automatic DNS settings. This can either be set on a per-device basis in Settings, or can be set-up on your home Router - and in so doing extends the benefit of this specific protection to other devices on your local network. I recommend using one of the following DNS services - for which IPv4 and IPv6 server addresses are listed:

Quad9 (recommended)

9.9.9.9

149.112.112.112

2620:fe::fe

2620:fe::9

OpenDNS

208.67.222.222

208.67.220.220

2620:0:ccc::2

2620:0:ccd::2

Cloudflare+APNIC

1.1.1.1

1.0.0.1

2606:4700:4700::1111

2606:4700:4700::1001

Use of the above DNS services will help to shield you from “known bad” websites and URLs - and when used alongside 1Blocker, or other Content Blocker provides defense in depth.

There are advanced techniques to further “harden” iOS/iPadOS (such as using DoH, DoT and DNSSEC). Apple has recently introduced its new Private Relay to its iCloud+ subscribers - in part employing DoH as an element of this new functionality.

I hope this information and insight proves to be helpful.