How to get AppleTV to automatically connect to Homepod

I have been using my HomePod for my AppleTV audio since I bought my HomePod. My AppleTV used to automatically connect to my HomePod, but a few months ago, my Apple TV stopped automatically connect to my HomePod and instead automatically plays through my tv speakers, which I don’t want. I made sure my HomePod and AppleTV were on the same network and both are running the latest software updates. Is there anything I can do to set my HomePod as the default audio output, so my AppleTV will automatically connect to my HomePod whenever I turn on my AppleTV? I currently have to manually choose my HomePod every time now.