From the article: “In some ways, the current situation has spurred an arms race. YouTube has inadvertently improved ad blockers, as the new knowledge and techniques gained from innovating within the YouTube platform are also applicable to other ad and tracking systems.”
YouTube could make it impossible to skip, or at least impossible to entirely skip. If there hasn’t been enough time between you requesting the ad frames and the frames at the start of the video it could simply refuse to give you the new frames