How to make an iframe embedded video not skip streaming an audio even if a submit button has been pressed, is it possible to achieve it without using scripts???

Note: I am streaming a YouTube video(hidden)

No. Without scripts the page will close and open a new one, thus stopping the video.

What method(s) I am going to do then? Can JavaScript make it possible? :)

As long as the page does not need to reload completely, you can change parts of it with AJAX.

Unless have your form in an iframe and your audio's in the parent.
Example:

<body>
    ...
    <div>
        ... your audio object here ...
    </div>
    ...
    <iframe>
        <form>
            ...
            <button type="submit"> ... </button>
            ...
        </form>
    </iframe>
    ...
</body>

Since I'm too busy with my exams, I can't try this until next week. Hehe. Thank you for your help!

LOL. Good luck with your exam. :)

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