‘Unable to connect to “Homepods’. Issue with Apple TV HD

This is probably due to your iPhone's use of the "Private Wi-Fi Address" feature on your home wifi SSID while setting up your HomePods. It's on by default and notoriously troublesome on mesh setups.

Read this thread: https://discussions.apple.com/thread/254807026?answerId=258963362022#258963362022

I could spend all day out here giving the same solution to 95% of the connection-related HomePod gripes. Good luck with it.

can’t seem to log out of my Apple ID within the Home app but have complete removed, reset and re-added the Homepods in question.

I meant to tell that in order to sign out of HomePods on the home app you need to do this in the HomePod settings. Long press on the HomePod icon - tap on Accessory Details and scroll down to Primary User - tap that to sign out. If bgmeek’s suggestion isn’t working you might want to try going into Network on Apple TV and Forget Network, restart Apple TV then join the network again.

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[Link Edited by Moderator]

Have you tried rebooting the wifi?

You could also try signing out of your Apple ID on the Apple TV and/or HomePods in the home app, then sign back in. You should be using the same Apple ID as well.