Fremantle, as others have said, has the ultimate authority in whether or not to allow episodes, or even clips from episodes, on YouTube (unless a work can be considered 'fair use' under the Copyright Act of 1976, which itself is a topic we could spend forever discussing).
It can be assumed, based specifically on their approach in handling episodes of The Price is Right
and those from other shows to which they claim ownership, that Fremantle is quite permissive in allowing virtually anyone to upload clips or full episodes of their programs to YouTube without prior consent. The two primary (as it seems) exceptions to this 'rule' are: 1) Fremantle gets to claim whatever Google Adsense money the videos generate and 2) the episodes must not be 'too' recent -- although how they define 'recent' is not known.
To further that second point, I've personally never uploaded an episode that aired within, say, a month or two of its original airdate, but I have uploaded an episode within six months of it airing (Bob's 2015 April Fools appearance, full HD quality from a capture card) and did so without incident.
Never have I received a copyright strike from Fremantle or any other entity, although it's worth noting that I seldom upload.
With all of that being said, I, nor should anyone else, advocate pirating episodes of any
show, movie, song or other copyrighted work to YouTube or any other platform. Fremantle might be the exception, but one should never assume that uploading content they do not own and/or have permission from the owner to use won't get you in trouble (unless it's 'fair use', but for the purposes of this discussion, we're assuming it isn't). By doing so, you are at risk of getting sued, and nobody wants that!