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According to Apple’s official release notes, the new update for HomePod includes general performance and stability improvements. Unfortunately, the release notes for tvOS 16.3.1 are yet to be made available. However, it’s likely that the update would be similar to the HomePod’s.
To download the tvOS 16.3.1 update, simply you need to go to System and then tap Software Update in the Settings app on your Apple TV. If you have enabled automatic software updates will be upgraded to tvOS 16.3.1 automatically.
When it comes to HomePod, the software is installed automatically by default, unless the feature is disabled. If you prefer to manually update the HomePod, you can follow the instructions in the Home app.