Requested formats are incompatible for merge, youtube-dl

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$ youtube-dl https://www.youtube.com/watch?v=7IATUNIAHqQ
[youtube] 7IATUNIAHqQ: Downloading webpage
[youtube] 7IATUNIAHqQ: Downloading video info webpage
[youtube] 7IATUNIAHqQ: Extracting video information
[youtube] 7IATUNIAHqQ: Downloading MPD manifest
WARNING: Requested formats are incompatible for merge and will be merged into mkv.
[download] Destination: 'Booty' Zumba® Fitness Choreo by Henry Cedeño-7IATUNIAHqQ.f137.mp4
[download] 100% of 57.50MiB in 00:22
[download] Destination: 'Booty' Zumba® Fitness Choreo by Henry Cedeño-7IATUNIAHqQ.f251.webm
[download] 100% of 3.59MiB in 00:00
[ffmpeg] Merging formats into "'Booty' Zumba® Fitness Choreo by Henry Cedeño-7IATUNIAHqQ.mkv"
Deleting original file 'Booty' Zumba® Fitness Choreo by Henry Cedeño-7IATUNIAHqQ.f137.mp4 (pass -k to keep)
Deleting original file 'Booty' Zumba® Fitness Choreo by Henry Cedeño-7IATUNIAHqQ.f251.webm (pass -k to keep)
To workaround this issue I can use additional parameters:
youtube-dl -f 'bestvideo[ext=mp4]+bestaudio[ext=m4a]' https://www.youtube.com/watch?v=7IATUNIAHqQ
What is the best mp4 and best m4a I can see with:
youtube-dl -F https://www.youtube.com/watch?v=7IATUNIAHqQ

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