Literally the only guy I've seen who actually understands and physically plays an instrument when showcasing it, unlike most other boring reporters who are just reading off memorized script.
For anyone searching - I've finally found it: The piece at 6:12 is from the Antwerpener Tanzbuch (Chorearum Molliorum Collectanea, 1583) by Pierre Phalèse and is called Gaillarde Mais pourqoy. So far, I've only found a recording with an arrangement for multiple instruments, not for solo harpsichord.
My grandmother has a harpsichord I used to play on all the time when I was a kid. You can really feel the pluck when you press down each key, it's a completely different feeling from playing piano.
One can imagine the people who made the clavichord saying to themselves, "This is fine, what kind of maniac would expect F and F♯ to be played at the same time anyway?" (And then composers, being composers, immediately going "Hold my ale, 'tis dissonance o'th'clock." :)
From the Clavichord to the Modern Piano - Part 1 of 2