HomePod mini

You can pair two minis and send the stereo audio to them from the Apple TV using the Home app. But only two.

See:

Use HomePod with Apple TV 4K

When you set up home theatre with HomePod, you can enjoy Dolby Atmos, Dolby Digital 7.1 or Dolby Digital 5.1 surround sound.

Set up a HomePod stereo pair

Pair two HomePod mini speakers or two HomePod speakers in the same room to create left and right channels for an immersive soundstage. You can create a stereo pair when you set up HomePod in the same room as another one or later in the Home app.