Apple TV needs to be authorized to join your home. It will check with a trusted iOS device to proceed

I had the same problem. I tried to reauthorize using bluetooth on my iphone but it didn't do anything. I tried to manually reauthorize and that didn't work either. So I reset and updated the Apple TV, but when I tried to let my iPhone try to set it up, I received an "setup failed (-6753)" error (UGH).

I finally set up my account manually and that seemed to have finally worked. We will see how long this lasts (after I finish re-configuring all the other services on my Apple TV).

Whatever Apple did to the the Apple TVs, it's a mess.

Same here, kind of. I am being asked over and over and over again to authorize Apple TV and sign into iCloud, and even when it's successful, I'm asked again and again. My Apple TV screensaver is now generic photos. This is irritating.

Yeah, I follow all the stupid steps. It says "Done." I return to menu and it still wants me to do it again. Apple is sooooo screwed up. iOS 13 also screwed up iTunes and its playlists, but of course that is gone with next OS, so Apple has put our complaints in the circular file.

Yeah it keeps asking to view terms and conditions then it delivers you to the update screen. It's really frustrating.

Same thing is happening to me. I guess this new tvOS is causing problems just like iOS 13 did. Apple OS is starting to be like Windows