Apple tv account sharing
Can a family member login and watch the tv program. Do I need to invite them?. this is for apple tv
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What TV program?
You can use Family sharing to share the TV+ subscription.
Other subscriptions might not be able to be shared over Family Sharing, but may offer sharing directly within them in some fashion.
For Apple's Family Sharing, yes you need to invite the other family members to join Family Sharing and be able to access your Apple subscriptions including TV+.
More info here: link-> Add a family member to your subscriptions from Apple - Apple Support