Back in the day, companies used to sell TV tuners meant for use with stereo systems and decoding then-new MTS stereo broadcasts (back when you sometimes saw a "In Stereo (Where Available)" graphic before some TV shows). I have a Sony ST-7TV which has an analog cable/antenna tuner, various indicators for MTS reception and input selection, two antenna/cable inputs (plus one labeled "TO CONVERTER", whatever that means), composite video/audio outputs, and a separate RF converter/video modulator section. I'm not 100% sure, but it might even be able to tune channels 95/96 (IIRC) as corresponds to the Japanese channel outputs of the original Nintendo Famicom, but I haven't tried it for this purpose yet. Other than an old VCR or a purpose-built (and likely very expensive) RF demodulator, something like this might be your best bet.
-Adam