iCloud+ combines everything users love about iCloud with new premium features, including HomeKit Secure Video support.
Let’s look at how you can access your HomeKit Secure Video footage on your Apple TV set-top box if you or someone in your Family Sharing group has an iCloud+ subscription.
What you’ll need
Make sure you’re signed in with the same Apple ID on each device. If you have devices where you’re not signed in with your Apple ID or that have the Home feature turned off, you won’t be able to view or share HomeKit Secure Video on those devices.
To view HomeKit Secure Video footage on your Apple TV
° On your Apple TV, open the Settings app.
° Choose Users and Accounts, select your account, choose iCloud, then make sure you’re signed in with your Apple ID.
(This how-to is based on my experiences and info on Apple’s support pages.)