It's indeed to log you in to multiple Google properties at once. It's not needed for e.g. Gmail (since it's a subdomain under google.com) but YouTube is in its own domain so it has no access to google.com's cookies.
I turned off YouTube for my account using admin.google.com. Doing so causes Google to stop redirecting me to YouTube and back. Of course this also means I'm never logged in while visiting YouTube.
Yes, I noticed this. Perhaps due to different handling of logins on both the sites. This could be handled in the backend by not redirecting as well, but therd should have been design choices there.