With tvOS 11 and Xcode 9 it will be possible to connect using WiFi or Ethernet.
The Apple TV has to be paired first using the Devices window in Xcode and the 'Remote App and Devices' screen on the Apple TV.
If you have access to the WWDC17 videos look up session 404 'Debugging with Xcode 9'.
This is very hit and miss. iPhone and iPad work flawlessly but I’m 1 for 3 on Apple TVs. My 4K works just fine but both of my Apple TV 4s will not connect to wireless debugging and give me the “device could not connect to developer mode please reboot device and reconnect”. This message shows when connected with the USB-c cable. Oddly enough all functions still work, I can push apps, debug and swap containers even though I’m getting the could not connect message. Losing wireless debugging is a frustration so if anyone knows a fix I’d be extremely grateful.