Trouble Pairing HomePod Mini with Apple TV: Seeking Assistance

I am experiencing a major issue with pairing my HomePod mini with the Apple TV. 

I can't connect my HomePod Mini to the Apple TV. (Two HomePod mini paired in stéréo)

I've attempted to restore both my Apple TV and HomePod mini, as well as my WiFi router. 

Everything is operating within the same 5GHz WiFi range and connected to the same Apple ID.

All devices are updated to the latest software version.

HomePod mini : 17.4 (21L227)

Apple TV 4K : 17.4 (21L227)

However, I continue to receive the following message: 'AirPlay Connection to HomePod Failed. You can switch to your TV speakers in Settings.'

Has anyone else encountered the same problem? 

Thank you