Can I watch Apple TV on my home? Samsung TV set?

QRQ60

A 2019 Samsung smart TV would have the Apple TV app pre-installed (in most countries). Users with an Apple TV+ subscription can sign in to the app there and view the content from this subscription.

To sign in to the Apple TV app, find the in-app Settings (sprockets wheel icon), then Accounts, and enter your Apple ID account credentials there.

depend on the model really, if it is supported then it should be in the app store of the tv

if it's not then go here to read about your options

How to watch Apple TV+, MLS Season Pass, and more - Apple Support