I look up to (this is going to sound cliche) a Youtuber who has a philosophy channel, and is very gifted in engaging his audience. This Youtuber is named Joe Bartolozzi, and uses extemporaneous and impromptu very skillfully. For example, he always respects and considers other points of view different from his own, and delivers his point of view very clearly and with heavy support. What I also enjoy about him is he can take almost any topic that is arguable and have a debate with someone with intelligence and respect. I really enjoy his philosophical videos and it makes me think extremely deeply.
I have also seen this YouTuber and he is very good, although I have never seen him speaking to a crowd in person I'm sure that he would be more than comfortable.