The easiest up-to-date solution (2021) I found to download large folders from google drive is gdrive:
http://github.com/prasmussen/gdrive
gdrive download --recursive --skip <file_id>
where <file_id> is the id you get from the folder URL. No need to configure anything, it will already ask you for your credentials and such.
The --skip flag is useful for large folders, since the download might time out at some point. You then rerun the command and --skip will make it act like an rsync.
As of this date, --skip is a relatively new flag and is available if you install gdrive through Go. If your system gdrive doesn't have it, try the same without --skip. Then, if you really need it, install it using go get as described in the github readme page.
--skipflag – Fred Mar 13 '22 at 22:13