From the article: “In some ways, the current situation has spurred an arms race. YouTube has inadvertently improved ad blockers, as the new knowledge and techniques gained from innovating within the YouTube platform are also applicable to other ad and tracking systems.”
If they wanted an almost impossible skip they could bake ads directly into the video stream as its served to you. Facebook already has ads that are basically impossible to remove, and that’s without the advantage of serving video content.