HomePod loses connection frequently when using as Apple TV output
While using my HomePod with my Apple TV as a second audio output (in addition to tv audio), it frequently (multiple times a day) loses the connection and can only be fixed by resetting the HomePod by plugging and unplugging it. I tried removing the HomePod and setting it up as new and it still keeps happening. When I check the HomePod in the Home app when this is happening it usually shows at Paused though sometimes I see not connected.
This is an incredibly frustrating experience and not what I expect from an Apple product.
HomePod, iOS 12