Disconnected from HomeKit, Now it can’t join, Stuck on Add This Apple TV to Your Home screen

I was having an issue with an accessory working remotely so I disconnected my Apple TV HD from the home and signed out of iCloud on my Apple TV. I also have a newer Apple TV 4K in the other room. After signing out of iCloud and back in my HomeKit accessory worked fine when on Cellular.

My Apple TV 4K is showing its part of the home and connected to HomeKit as a hub. So now back on my Apple TV HD that I signed out of, after I signed back into iCloud I went into AirPlay and HomeKit and noticed it wasn’t signed into a Room. So I click the Select a Room option and shows the “Add This Apple TV to Your Home” screen and ask me to put my iPhone next to the Apple TV which I did. I got the card that says “Set up AirPlan and HomeKit on this Apple TV” with a connect button which I pushed. Then I get the car that says “AirPlay 2 is Ready” with a done button on my phone. I push the done button but my Apple TV screen still has the “Add This Apple TV to Your Home” screen with the spinner still spinning. It never comes back.

I have signed in and out of iCloud, restarted my Apple TV, Reset my Apple TV to factory settings, signed out of iCloud, Store and Game Center which removed my user account from the TV, tried over WiFi and Ethernet.

Does anyone know of a way to get this Apple TV back onto HomeKit so I can pull up my Cameras and get the PiP notification when the doorbell is pressed like before?