Well, seriously, is anything universally admired? I thought Voluntaries was wonderful - saw it several times at ROH in the 1970s in a triple bill with Month in the Country and something else I've forgotten. I don't normally particularly like abstract ballets with minimal costume and scenery but I was always ready to make an exception for that one.
I've done a bit of searching and come up with a link (which apparently I can't post because this forum won't let me paste stuff I've copied) to a VHS in the Worldcat database (just google on Tetley Voluntaries VHS). There's a recording by the Pacific Northwest Ballet in 1991; the information is as follows: Videotaped in performance at Seattle Center Opera House, Seattle, Washington, March 23, 1991. Choreography: Glen Tetley, assisted by Scott Douglas. Music, Francis Poulenc (Concerto for organ, strings, and timpani); Scenery/costumes: Rouben Ter-Arutunian; Lighting: Randall G. Chiarelli. Performed by Pacific Northwest Ballet: Patricia Barker and Thordal Christensen, with Colleen Neary, Stirling Kekoa, and Benkjamin Houk, and others. OCLC number (whatever the heck that is): 80124214. 31 min, NTSC.
Might be worth contacting Pacific Northwest Ballet to see if they have a spare copy or know where one might be found. It's possible (at least it was possible a few years ago) to convert from NTSC to PAL and to put stuff from a videocassette onto DVD. The quality won't be great but it'll probably be better than YouTube.