Is there a manual for actually using the apple remote
Is there a printed manual for using the apple tv remote
Apple TV 4K, tvOS 15
Question marked as
Apple TV User Guide has a section on how to use the Siri remote. Choose Table of Contents > Basics > Use the Remote.
I couldn't find a printable pdf version for the Siri remote, but you could print the webpage Use your Siri Remote or Apple TV Remote with Apple TV.