No remote access when using HomeKit

I’m trying to setup my Apple TV 4th gen as a hub for HomeKit. I went through the setup on the TV but on my iPhone I’m getting this error “no remote access”. I’m at home both devices are on the same network, I have two factor authentication enabled, I’m using the same iCloud account on both devices. How do I fix this?

Also I noticed I don’t have the option for “Hubs and bridges” under settings for Home. All the documentation I can find appears old. Was this setting removed?