I want to create a discord bot that can notify everyone in all my discord servers in which I have:
The problem is I did check the guide here (https://www.npmjs.com/package/youtube-notification) but I didn't get it, also I don't know if it can be done dynamically like whenever I join/create a new server and have the role and invite the bot it will automatically work without updating the code.
The scope of your question is too large to answer here, try to ask smaller questions. However, how you would make a simple discord.js bot has been answered here:
The documentation is here: https://discord.js.org/#/docs/main/stable/general/welcome
YouTube API's:
You can attempt to learn to make a discord bot using YouTube videos and discordjs.guide, here are a few good videos that should help: