You can send audio from Apple TV to one or more AirPlay-enabled devices (such as HomePod and other smart speakers and TVs) connected to the same network in your home. You can also send audio from AirPlay speakers like HomePod to Apple TV.
A list of available audio speaker devices appears, organized by room (as assigned in the Home app on your iPhone, iPad, or Mac).
Do any of the following:
Send audio from Apple TV to a speaker in another room: Connect Bluetooth devices to Apple TV