Ymmv depending on OS and version. I run grapheneOS and mine is in Settings -> Apps -> Defaut Apps -> Opening Links. Scroll down and select NewPipe and enable Open Supported Links. Depending on OS you may be able to set behavior per domain, e.g. open Youtube links in NewPipe but not SoundCloud or Bandcamp links.
Another endorsement for AntennaPod, I also use it every single day. No issues with podcast length over here.
Android TV may or may not have Kodi on the Play Store depending on your location. I’ve got it on my ‘smart’ TV, no sideloading required.
Of course the TV itself is a POS and stutters during playback so I never use it. YMMV on that front as well.
Yw! Glad it worked out.