I will say that I was really disappointed to see that Brother Peter has returned to calling others heretics. I think to call Trads heretics because of a possible misunderstanding/error on this topic is just wrong (although a few of them did go too far).
EENS-denial is heresy, as the dogma has been solemnly defined no fewer than 3 times, each time with increasing precision as various heretics tried to worm their way out of having to accept it.
What isn't heresy is Baptism of Desire (as held by the Doctors), but this video wasn't about that subject. Now, when people use the TERM "Baptism of Desire" to extend it in order to gut EENS dogma, they're not really promoting the teaching of varous Doctors. For everyone who uses the term BoD, you'll find a different definition of it, a different understanding of what is is and how it works, under what conditions and works, and to whom it can apply. In the end it's just a catch-all term used by anyone who doesn't want to accept EENS dogma, the only common denominator being that the Sacrament of Baptism is not necessary for salvation (which is heresy). 99% of BoDers are Pelagian heretics or else deny the dogma that the Sacraments are necessary for salvation.
In any case, this video is not about BoD, as people like Elizabeth were in fact validly baptized, and the papal references were all to deceased heretics (who by defintion are baptized).