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HomePods can now be set as default audio output through Apple TV. (tvOS 14.2 & HomePodOS 14.2 both in beta) : r/HomePod
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How To Connect Wireless Bluetooth Speakers To Apple TV 4th Generation - Bluetooth Headphones - YouTube
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HomePod mini can be set as default speaker for Apple TV 4K in tvOS 15 - iPod + iTunes + AppleTV Discussions on AppleInsider Forums
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