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The Video XML Sitemap in All in One SEO Pack Pro supports videos that are locally hosted in the Media Library. When you add a video from your Media Library to a post or page, the video is embedded using a shortcode that looks like this:
You can control the title and description of the video in the Edit Media dialog.
The video thumbnail will be a default thumbnail as seen below:
You can set a different thumbnail for the video by using the custom field aioseop_video_thumbnail as shown in the screenshot below: