Playing YouTube Videos that have seperate URLs for Audio/Video

Hi all!
You might all know, but to me it was new that YouTube videos actually are seperated in Video streams AND Audio streams. So in the end, to play the video i get two URLs, one for the Video and an other for the Audio stream. Is Kodi able able to play two URLs at the same time, one for video and the other for audio?
I am currently using “setResolvedUrl”, and it plays the YouTube Video well, except that there is no audio, since its missing the second stream for the audio.
If anyone has a hint for me how to solve that with Kodi it would be great.