Well, it does require you to install an extension[0], but it can be done.
I've been using Grayjay recently which does allow that, amongst a number of other useful features (integrating other media sources, lack of adverts every few minutes in some content). Might be worth considering as an option.
Don’t know about android, but there is also an extension there that blocks the visibility page api for YouTube.
You also get ad filtering and you can download Audio/Video streams from within the app.