“Apple Tv needs repair” message in Home App

I’ve been trying to add my Apple TV to my home app as an accessory days. I add it through the settings and I also tried on my iPhone and iPad. I updated all three and it still won’t work. The internet is not an issue because my other Apple TV connected just fine and is already linked to my home. I’ve deleted the Apple TV from the home app, renamed it, updated, unplugged and plugged back in, it still won’t add. I want it to automate so that it turns off as soon as I leave and turns back on when I’m back but I can’t because it keeps saying “Apple tv needs repair” in my home app.