When casting a video to my sony android TV it opens another window which is for the mobile casting that I can't control using the tv. Is there a possible way where I can add videos to the queue in the normal YouTube window? this is what happens when I cast through my phone
You can link your phone to the YouTube app. You'll have to open the YouTube app on the TV before casting though, but it enables you to control YouTube with your phone as well as your remote control at the same time.
To clarify, you can still cast as normal (like the picture you posted) but also cast to the YouTube app itself when it's running on the TV