A couple of weeks ago I e-mailed a couple of companies complaining about their drivers being jerks on the road. It's not the first time I've complained in recent years, but now it's the first time I've been able to add video to a complaint. I've used two of YouTube's options that I think would meet your requirements. The first is to make the video private so only people with the actual link can view it. This way you don't get listed in search results or at the end of other related videos. The second option is to restrict all comments on the video. No one can comment, just view. And, in the end, you can always take down the video at any point you start to feel uncomfortable with it being half-public.
It was interesting, though. The first company I e-mailed viewed the video about 20 times through a couple of days and replied with a generic "we're sorry, we'll try to correct it". That was the end, the video has no traffic anymore. The second company, though, has viewed the video more than a hundred times from a bunch of different devices (iPads, mobile phones, PCs, etc.) and they keep visiting the video up until today. I'm guessing they're using it for other purposes than to just assign blame. They also responded with a "we'll try to correct it" message but after seeing so much activity on the video I do believe my complaint didn't go ignored.
