If you have a large collection of episodes of a podcast and want to upload all of them to be rediscovered on YouTube, you can do so with Upload.

Just go to the podcast you want, go to the Settings tab, scroll to Upload all, and click the Upload all to YouTube button.

This will queue all episodes that had not been previously queued. This will not reupload episodes that are currently in the queue, being uploaded or have already been uploaded. This process may take several hours depending on how many episodes there are to process.