You can add videos from your iPad to iCloud at any time once you turn your iCloud ON. The videos can be up to 5mins long. After add your iPad videos to iCloud, you can watch or download them from all the devices that you connect to iCloud with the same Apple ID. So to transfer your iPad videos to Mac, you just need to download the videos to your Mac from the iCloud Photo Library.
The step by step process for the transfer is shown below:
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