First you need https://www.youtube.com/feeds/videos.xml?channel_id , and just paste the channel ID after it,that’s the link for RSS.
To get channel ID: visit the channel you wanna subscribe,then click more to view the full profile,scroll down and click share channel ,there will be a option Copy channel ID
I found it from a blog post from Taiwanese,his example: https://www.youtube.com/feeds/videos.xml?channel_id=UCVXstWyJeO6No3jYELxYrjg
What I using now is Liferea,I looked the Debian wiki of RSS and picked it.(I’m not familiar with terminal) I installed Livemarks then give it a try,simple and awesome.Thanks for sharing :)