I am only using such plugins for the basic settings (like the meta description on the homepage, I just set them and forget them) on my tubes but I do not edit video titles just to get a good score from Yoast and my sites rank well, so it is not a necessity to change them to get good positions in the search engine rankings. If you write unique titles and do not put too many keywords in them, you should do fine.
But that is my opinion based on my own experience, so ideally you could change like 50 posts for a test and see if they will higher or not.