I have a teacher that is still having this issue uploading to YouTube. I was able to recreate it as well.
What I found is that if we transfer the recording to a laptop (we used AirDrop) and then uploaded it to YouTube, the audio would not play when viewing on YouTube. When we upload the recording directly from an iPad to YouTube, the audio would play when viewing YouTube.
So it looks like uploading the iOS recording via the iPad, directly to YouTube does work for us. We are both running iOS 11.2.6.
The additional problem my teacher had is that her recordings are a little over 20 minutes. The YouTube app on the iPad limits you to 15 minutes of video or 128GB. However, uploading via a web browser does not have this limitation. So, we went to YouTube in the mobile safari app on the iPad and uploaded the video that way.
We did have to have our iPads request the YouTube desktop site before we could get full functionality.
Sound and video played as expected via YouTube after that.
I did read there may be a way to increase your 15 minute upload limit. I will try it an report back.