For AntennaPod, there are fast forward and rewind buttons. You can set a preprogrammed duration for each button. I have my fast forward button set to 30 seconds to skip commercials.
In addition, for AntennaPod, you can set a skip x seconds on podcast start, so if the podcast normally has 2 minutes of ads, jibber/jabber upfront, you can skip it. Also same for the backend of the podcast you can skip x seconds of the end of the podcast. This provides a way to skip ads, smalltalk, or jibber/jabber at the end of a podcast as well.
Given all that, which is great, be aware that AntennaPod doesn't automatically skip ads on its own. You must press the preprogrammed duration fast forward button manually.