So, this is a more involved approach and it's not a Firefox add-on but I thought I'd mention it:
https://fnordig.de/til/Machine-Translation/bergamot-subtitles.html
You'd play the YT videos outside the browser using mpv in combination with yt-dlp and an mpv lua script would do the translation locally using the Bergamot engine (which happens to be Mozilla's translation engine). Could be adapted to use other engines too.