Best quality for youtube replay on large tv

I have simply been using the youtube presest or the mp4 preset to make movies from my GoPro or my HD camcorder. I notice when I load the final movie on to Youtube and play back it is not near the same quality as if i watch the raw footage. What other format could i make my movies, or will Youtube change them all to Mp4 anyway?

YouTube always re-encodes. Upload at 1440p or higher to get higher quality. YouTube re-encodes with different settings at that level.

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