To connect a switch to Apple TV, you can connect an external Bluetooth® device such as a keyboard, or you can use the platform-switching feature that forwards switch actions from another device such as an iPhone or a Mac. On an iOS or iPadOS device, tap the screen to trigger the switch. (On iPhone 6s and iPhone 6s Plus or later, force-click the screen.)
In Settings on Apple TV, go to Accessibility, then turn Switch Control on or off.