Stereo HomePods are failing to connect to my AppleTV 4K
I have two HomePods connected in stereo mode and are accessible to my Apple TV 4K. They've been working since I owned them, but recently my AppleTV started to fail to connect and play audio through them, I get an error saying that my HomePods failed to connect.
I removed the HomePods from my Home app and reassigned them and they continue to fail to connect with my AppleTV. I can play music on them from my iPhone but they just won't connect to my AppleTV, they show up as a selection but when I select them the audio continues to play from my TV and after a few minutes I get a message saying HomePods failed to connect.
How do I get my Apple TV audio to play through my HomePods again?
AppleTV OS: 15.0
HomePods Left OS: 15.0
HomePods Right OS: 15.0
iOS: 15.0
Apple TV HD, tvOS 13