I rarely find it missing, but perhaps it wasn't available for whatever programme you were downloading. If it is always missing from all BBC programmes, that would be unusual unless you are falling foul of some sort of geoblocking, but that seems unlikely given that you apparently can access...
It is available for most programmes, but it requires filtering by bit rate ([tbr<3000]) because youtube-dl doesn't pick up the frame rate. Be aware that the 1280 x 720 (and 832 x 468) @ 25 fps streams have 96k audio. If you have used get_iplayer, this is the default stream it downloads.
If you...
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