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Sony has promised to add the capability to upload directly to YouTube in an update this year. Until that update arrives, you will need to link your PS4 to your Facebook account, upload the video directly to Facebook (which is already supported), then use a computer to log onto your Facebook account. Go to the video, get the link and save the URL. Go to SaveFrom.net and enter that URL, then follow the directions there to download it to your computer. THEN...finally…you can just upload to YouTube the video that you just uploaded to Facebook and downloaded from SaveFrom.
If you need them, here are slightly more detailed instructions from pushsquare (one of my favorite gaming sites for Sony systems).