AirPods Pro 2 connection issue on Apple TV after tvOS update

Since updating to tvOS 26 it seems that Apple TV no longer automatically recognises my HomePods, which connected to it before the update without (mostly) any problems. Now it looks like you are forced to go in to ‘Audio and Video’ in Settings and choose the default audio output. From there I can select my HomePods, but this new protocol seems to have negatively affected how my AirPods Pro 2 connect to Apple TV, with frequent dropouts in sound, stuttering etc.

The HomePods are fully updated and have been restarted, twice already. So my question is: Why does Apple TV no longer recognize my HomePods automatically as being part of the same room (Living Room)?