Apple TV on a 2016 Samsung TV

Support for the native Apple TV app or Apple TV+ app starts with the 2017 models Samsung TV. For use with a 2016 or earlier Samsung TV, please consider an external HDMI streaming device. That may be an Apple TV box, Roku, Fire TV, Xbox, Playstation, Nvidia Shield, ‘Chromecast with Google TV’ dongle, or possibly select cable boxes that support apps.

How to watch Apple TV+ and more - Apple Support

Get the Apple TV app or Apple TV+ app on your smart TV or streaming device - Apple Support

Watch on these smart TVs and third party streaming devices - Apple Support

My LG Smart TV does have an Apple TV app but I prefer using a Roku Streaming Stick. See: https://www.roku.com/products/players

and

https://support.roku.com/article/360036652634

It works very well with Apple TV and other streaming services.

Another option if you have Xfinity is to use their app. Other internet providers may have a similar option.