FULFILLED:
I had to wait until I got home to do this, but here is the Holy Grail:
I took pity on your plight and imported the MIDI in Sibelius, then cleaned it up a bit and made some (I hope) improvements. This is the result, I hope it fits your needs. The sixteenth notes were very tricky, I am not at all sure I chose the optimal notation - please give me feedback if you want some voicings altered, notes switched between hands or whatever else you feel needs changing, shouldn't be too hard incorporating further demands now I've put in the initial effort.
Here's my version, based off your video #1. Mine is not the same as the guy's version in video #2. You can, of course, play it however you want to :)
Sounds like one instrument. You can try AnthemScore and convert it into sheet music. https://www.lunaverus.com/
If that doesn't work you can do what I did. Find someone on freelancer to transcribe the song for $10. People on fiverr are charge a lot more.
You can try Frescobaldi which is both very powerful and also Free (as in freedom and as in beer). Maybe overkill for what you need, but it has the ability to use Jazz layouts that bass players may be more familiar with.
Hi, the music in this video was re-arranged and played by pianist George Davidson, it was put in his album: A Time For Us . Mr. Davidson didn't release its piano sheet, not as far as I know.