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Unable to set AppleTV to display the HomeKit camera when it is triggered

There are a lot of websites that say that appleTV can’t pop up the HomeKit camera when it detects motion. I can get it to show my camera at the prompt, but there is no option to display it when an alert or trigger is set.

I don’t have an iCloud subscription. Is this a precondition? I hope not, because he doesn’t use data.