syncing files

No, you don't necessarily need Apple Music or iTunes Match.

See Use Home Sharing to share media from a computer to other devices - Apple Support.

On Apple TV use the Computers app to access your Home Shared library.

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Are you looking in the Computers app? You'll only be able to share locally downloaded music that hasn't come via an Apple Music subscription. Without a subscription to Apple Music or iTunes Match the Music app on Apple TV is going to show your unhidden purchase history and nothing else.

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If you enable Home Sharing in your Mac and your Apple TV then you can access your music via the Computers app on the Apple TV. If you'd like your entire music library to appear in the Music app on Apple TV, and any iOS devices that you have, then a subscription to either Apple Music or iTunes Match gives you an iCloud Music Library, which makes your own ripped songs work in a similar way to your purchases. Apple Music also lets you add almost anything from the iTunes Store into your library while your subscription remains active.

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