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Install the Tampermonkey browser extension: https://www.tampermonkey.net/ (I recommend using Firefox, since it also supports browser extensions on mobile.)
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Open the following URL in your browser: https://raw.githubusercontent.com/VRCUploader/vrcw-download-script/refs/heads/main/vrcwDownloader.user.js
If Tampermonkey is installed correctly, it will automatically detect the userscript and display the installation page.
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Click Install, and you're done!
Once the script is installed, search for a world on vrchat.com. Each search result will now include a Download VRCW button.