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AppleTV supports showing notifications when specific events are detected on HomeKit cameras. When enabled, the AppleTV will show a notification that includes a live stream from the camera which triggered the notification. To show notifications on an AppleTV, follow these steps:
Open Settings
Go to "AirPlay and HomeKit"
Go to "Cameras & Doorbells"
For each camera that you wish to receive notifications
Set "Show on this Apple TV" to "On"
Turn on "Activity Notifications" for motion notifications
Turn on "Doorbell Notifications" for doorbell press notifications (if available)