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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. You can set a thumbnail for the video that will be used by Google in search results by using the custom field aioseop_video_thumbnail as shown in the screenshot below: