A Apple just released the tvOS 16.4.1 (compilation 20L498) for the models of set-top boxes compatible. Likewise, the Software do HomePod 16.4.1 (same build) was also made available for Apple smart speakers.
The update comes following the release of iOS/iPadOS 16.4.1 and macOS Ventura 13.3.1 late last week.
According to the release notes for the HomePod update, it includes performance and stability improvements. It is worth noting that Apple does not provide the changelog of tvOS and, according to that page, there were no bug fixes — but most likely today’s update also includes improvements in general.
How to install
Both Apple TV and HomePod can install software updates automatically. However, if this option is disabled, tvOS update can be installed in Settings » System » Software Updatesclicking on “Update Software”.
The HomePod Software update can be applied through the Home app (Home), either on iPhone/iPad or Mac. Just open Home Settings and scroll to the “Software Update” area.