That's exactly what this is doing. It captures all youtube.com/watch, youtube.com/shorts and youtu.be/ pages and redirects then to the same page on invidious. Just replace %yourinstanceofchoice% with yewtu.be.

If you don't open videos you want to watch in a new tab, you also have to go to Advanced Options in your rule and tick "HistoryState" else it will bypass the redirect.

This should work for you: