4 HomePods stuck in configuring for days

I've got a mix of 2 older HomePods and 2 of the new HomePods. After the most recent update, they have been flaky and stuck in configuring. I've factory reset them but when they are added again, it's the same thing. I can still get them to play music but not fully functional. This has been going on for about a week. Saw another thread saying I had to delete everything including the home and start over. This will be a last resort as we've got 4 HomePods, 7 Apple Tv's, plus locks, etc. so this sounds very painful.