Apple this week has released a minor update for both the HomePod platform and tvOS, with version 16.4.1. The update was released on Wednesday this week and is available on the HomePod for the first-generation and second-generation as well as the HomePod mini. For Apple TV, it is computable with the Apple TV HD and all generations of the Apple TV 4K.
Apple hasn’t said what is new for the tvOS update, but for HomePod it “includes performance and stability improvements.”
To update your HomePod, visit the Home app and check the updates section, but by default they are set to update automatically. The same for tvOS, but you can visit the updates section in the Settings app to update manually.