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Ok, but again - the original is fine. I created an MP4 of the clips that looks fine on my computer. It's only after uploading to YouTube that it's overly soft. So it isn't the camera that doesn't like the dark and fast moving material, it's YouTube.
Hi
It could be YT as 'they' re-render the file using 'their' system.
Try uploading small differently rendrered file types - AVI, MPEG2, AVCHD etc etc to see which one YT likes.