It looks like YouTube creates several 5.1 formats (these are some of the options for the Yes King Biscuit show himey mentioned earlier):
ID EXT RESOLUTION FPS CH │ FILESIZE TBR PROTO │ VCODEC VBR ACODEC ABR ASR MORE INFO
────────────────────────────────────────────────────────────────────
256 m4a audio only 6 │ 106.07MiB 195k https │ audio only mp4a.40.5 195k 24k low, m4a_dash
380 m4a audio only 6 │ 208.83MiB 384k https │ audio only ac-3 384k 48k high, m4a_dash
328 m4a audio only 6 │ 208.83MiB 384k https │ audio only ec-3 384k 48k high, m4a_dash
258 m4a audio only 6 │ 210.87MiB 388k https │ audio only mp4a.40.2 388k 48k high, m4a_dash
ID EXT RESOLUTION FPS CH │ FILESIZE TBR PROTO │ VCODEC VBR ACODEC ABR ASR MORE INFO
────────────────────────────────────────────────────────────────────
256 m4a audio only 6 │ 106.07MiB 195k https │ audio only mp4a.40.5 195k 24k low, m4a_dash
380 m4a audio only 6 │ 208.83MiB 384k https │ audio only ac-3 384k 48k high, m4a_dash
328 m4a audio only 6 │ 208.83MiB 384k https │ audio only ec-3 384k 48k high, m4a_dash
258 m4a audio only 6 │ 210.87MiB 388k https │ audio only mp4a.40.2 388k 48k high, m4a_dash