HomePod Mini Sync Issues

I installed the Apple 4K TV & two Apple HomePod Mini’s last night. All went great. This morning I turned on the TV and Apple devices using the 4K TV remote. TV came on and YouTube TV, but the speakers were not working. I had to sync them again. All I want to do is turn on my TV and have the picture and speakers working.

Did I do something wrong; do I have to do this every morning after its been asleep for hours?

I turned off everything last night via the 4K TV remote, holding down the button on the top right of the remote. HELP!!