In addition to the good information optodata and tomasc already have given, may I tell you of my experience with using and uploading to YouTube.
Over the last few years, I make recordings of summer concerts my son in law gives. Next to one or more camera’s, we use a separate audio device for better sounds. I use PD and the multicamera options to make the final product. (
https://www.youtube.com/channel/UCczD4CbDTsdssvnsQ8UP1Wg/videos)
In the beginning I have tried the PD YouTube upload function, which most of the times works. But like you, I like to have a bit more control over the timing and also the data along with the videos, so -as the gents suggest- I upload the videos I produced first not using the PD but the YouTube online upload function. During the uploading you can add your data, fill in descriptions and settings and Thumbnail etc. In that way I don’t have to play with wifi or other internet connections, and I can check the result of the production before it is uploaded to YouTube.
Because in my case the sound is more important than the pictures, I try to make sure that there are no hiccups in the recording nor in the production. In my case this is not difficult because the sound recording is usually one take, with no cuts.
I would certainly suggest start looking for errors at your site first, before looking at settings and/or the conversion/rendering that YouTube does to get your video online. As optodata suggests, try after production more than one media player to see whether the sound (and video) comes out as you want it to be and to make sure that it is your production and not the player that gives the errors. If your production is not okay, you know that you have to look at PD, e.g. see whether playing from the timeline already shows errors.
Using the Profile Analyzer as is suggested is always a good idea, because the selection of the matching output specs will force PD to do a minimum of re-rendering, so securing output that is closest to your original. Since I have a mix of cameras both with HD and UHD quality, and I mix and zoom and crop a lot, I know that the analyzer cannot help me. So, I select the best output and I am hoping the PD does a good job, and it usually does. The production settings I use are always 1920x1080 and select the higher of options I have and I have good results with both mp4 (50P and 40Mbps) and mpg (50i and 25 Mbps). The output files are larger, upload times a bit longer but it the result that counts.
Hope this helps a bit.