HomePods strereo with Apple TV problems

I have had 2 HomePods in stereo with an AppleTV for three years now. I have been experiencing a lot of problems for a few months now. Does anyone know what to do?

Issues:

- Controlling Apple Music via Siri often does not work, I get the message "there is currently a problem with AppleMusic, try again later". The solution is to restart the HomePod and that is temporarily fine.

- Watching TV, Netflix, YouTube via Apple TV, sometimes pauses itself.

- AppleMusic via Apple TV, pauses songs or skips songs automatically.

- Temperature sensor sometimes gives incorrect or no display, restarting is a temporary solution.

- HomePods sometimes play random songs without being asked, usually with very loud volume. This has also happened at night. AppleTV is not on at that time.

Already done:

- Restarted the HomePods several times.

- Disconnected both HomePods and reset them to factory settings.