Hear my 4K Apple TV on our 2 airpods
We can only hear our Apple TV 4K on one of our AirPods at a time and not both
iPhone 6s Plus, iOS 14
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The interface to set up the sharing is in the Control Center panel of Apple TV. Press-and-hold the TV/Home button until the panel appears. Use the Audio Controls button, then select the Share Audio to configure a secondary headphone set in the next window.
Share audio from Apple TV 4K with a second pair of headphones - Apple Support
Compatible headphone models - Share audio with AirPods or Beats headphones - Apple Support