Apple fitness + SharePlay and airplay cast to TV

My wife and I have Apple fitness + on a family plan, and want to workout together. We have a Samsung tv that has Airplay built in so no need for an Apple TV. I want to start a SharePlay session with my wife, then cast the workout to the tv with AirPlay. But every time I try we only get the audio. If I airplay without SharePlay we get the workout on screen. Current work around is we start the same work out on our own devices and cast from one.

is there a solution or is this just apples way of making us buy an Apple TV?