Apple TV cannot find HomePod mini speakers after inactivity

I use a pair of HomePod Mini speakers to listen to my Apple TV. When not used for a period of hours my Apple TV can no longer find the HomePod Mini's. I have to go into my phone, play some music on the HomePod Mini's via Airplay, then when I go back to the Apple TV the Homepods are there to select. All devices are on the same network although Apple TV is connected via ethernet (as it should be). I am having to do this several times a day or more and it is frustrating. TV (model 2843 128GB) is running tvOS 26.0.1.