Apple has launched new versions of its tvOS and HomePod operating systems today: tvOS 16.4.1 for the various generations of Apple TV and HomePod 16.4.1 for the HomePod and HomePod mini.
Improvements in both performance and stability are listed in the release notes that Apple provided alongside the upgrade for the HomePod. Apple does not give release notes when installing upgrades to tvOS; however, these updates likely include similar improvements in performance and stability.
Software for the HomePod will be automatically installed on the HomePod until the user deactivates this capability. Nevertheless, the HomePod can also be updated manually in the Home app by following the procedures provided in HomePod update.
The tvOS 16.4.1 update may be downloaded wirelessly using the Settings app on the Apple TV by navigating to System > Software Update. This can be done in either English or Japanese. Apple TV owners who have their devices set to receive automatic software upgrades will have the tvOS 16.4.1 update applied to their devices automatically.