My ipad unable to connect to my current Samsung TV airplay. Any suggestion? Can i update my TV’s airplay firmware?

Verify that your TV supports AirPlay. (AirPlay and the Apple TV app are independent features, although largely overlapping.) List of AirPlay 2-enabled smart TVs - Apple

For TVs that support AirPlay, to be accessible for AirPlay 2, users will have to add the TV to the Home app, and assign it a room. Add a HomeKit accessory to the Home app - Apple Support. Additionally, the TV will have AirPlay settings to be configured (on|off, access control).