My wife and I like to watch YouYube videos on our Shield TV, which we bought to replace our Roku.
On the Roku, we could start off in the app, then connect using the cast icon in the YouTube app to add more videos to the queue.
In Android TV, the cast icon hijacks the entire Shield and switches it to the built-in Chromecast functionality.
Is there a way to get the Roku’s behavior?
No, unfortunately when you cast it only uses the chromecast functionality. It should work ok for multiple phones and adding videos to the queue but you lose the controller play/pause/seek interface, which is stupid.