Apple TV No Longer Auto Connecting to Soundbar

Both of my Apple TVs used to connect to their individual soundbars when the device was turned on. They no longer do this and I have to select the soundbars in the bluetooth settings each time. This only started occurring today but was before I updated to the latest software.

So far I have tried restarting the sound bar, restarting the Apple TV, repairing the devices, and then upgrading the Apple TV software. Nothing has returned the usability to what it was before. Does anyone know how I can rectify this situation or has anyone else experienced this recently?