Sign in on Apple TV

If you have an Apple TV (2nd or 3rd generation) and two-factor authentication for your Apple ID, then you may be asked to type your password followed by the six-digit verification code directly into the password field. Additionally, there is a time limit, after which the code becomes invalid.

Try this: First enter the characters of your password (do not submit yet), then manually request a new verification code, then append that code to the password (no spaces or other separating characters), and then submit. That should help you get passed the time limit.