apple tv keyboard stuck connecting

I’m pretty sure this used to work, but now when I go to something that requires text input on my Apple TV 4K, the Apple TV Keyboard shows up on my iPad and iPhone.  The problem is, if I tap that on either device it just sits there “Connecting” forever.  

The work around is to go to the control center, tap the remote icon and then a keyboard will pop up and I can enter text.  That’s not how it’s supposed to work though.  

My understanding is that Apple TV keyboard using continuity and that works between the iPhone and iPad, but not the Apple TV.  

https://support.apple.com/guide/tv/use-the-ios-keyboard-atvb827791d6/tvOS

I’ve tried restarting everything, but it’s still not working.  Any ideas here?