The closest to a working solution where we keep TiVo is to lock the remotes away and control the TiVo via the phone apps... but that's made TiVo such a laggy pain to use that we're getting rid of it as soon as the current "Big Kahuna VIP" (?) bundle expires...
If you're looking at alternatives, a word of warning - Google/YouTube have bought off a lot of other suppliers too as I've been researching this and it is a problem for NowTV (not as bad - you can uninstall, but there's no restrictions on re-installing).... https://community.nowtv.com/t5/NOW-TV-Smart-Box/I-want-to-remove-the-YouTube-app-off-the-box/td-p/43...
Roku seems to allow proper parental controls, but based on previous experience, I found they were pretty loathsome little devices the rest of the time...
Top of my list of viable options are those cheap little Android TV boxes that I've started having to use for Prime Video... unfortunately, most mandate YouTube too (Android = Google = YouTube) and the premium TV providers also block HDMI output from those boxes, however Google have already been through the backlash against some of their core apps (like YouTube) and allow you to setup proper profiles for kids, etc, where you can easily block unwanted apps (and the app-store)....
The devices aren't as slick as TiVo and you will miss out on some channels, but there's still TONS of content: Premier Sports and all the Freeview channels are fine (ITV hub, 4OD, demand5, BBC iPlayer) as well as Netflix and obviously Amazon Prime Video.... the more I'm using it, the more I'm realising it could replace my TiVo.
The only missing items would be Virgin Media TV Go / SkyGo as I think they block HDMI output to make it slightly slower for pirates to re-broadcast their content.. there's very easy ways around it, and it's not illegal provided you're only using the TV content for your own viewing (NOT re-broadcasting - duh!), but I won't go into the details of how to do that as I'm sure it's against the forum rules...
I'm just going to stay with my stock Android box for a while with proper parental controls that allow me to block unwanted apps and I'll have Amazon Prime on the same device too... roll on the renewal date, when I'll switch to nothing but that.