Why am I unable to connect after entering the correct PIN?

When your devices are able to communicate, and you are entering a correct PIN when prompted, but still can not connect, then you may need to double check some local settings for compatibility on your Apple TV. First, ensure that under Airplay and HomeKit in your Apple TV Settings, you have Allow Access set to Everyone or Everyone on the Same Network and that HomeKit is not attached to any Rooms. Conference Display should also be off. In this state, you should only be prompted for a PIN on the first successful connection, and subsequent attempts should connect without prompting.