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Remote
App for Apple TV 3rd gen
iPhone 6s Plus
You would use the remote in control centre, as per the support article you linked from. I will paste again for reference.
Set up the Apple TV Remote on your iPhone, iPad, or iPod touch - Apple Support
The Remote widget in Control Center works for Apple TV (3rd generation or later) with software 7.5 or later.
The Remote app from the App Store is no longer available.
the remote app works for all appletv types
How to download apple remote for Apple TV 3rd gen
