I found an alternative method that worked perfectly: https://www.youtube.com/watch?v=3U1P8e0rRyw

Exact same problem (which actually sux as my Apple TV 4K is in the basement, and my office (MacOS) is on the 3rd floor and I've had to run up and down the stairs 3 times before the pairing failed. Would love to see an answer to this one. One slight difference, my AppleTV is currently on 14.7