Hopefully, but seriously where is this new Apple TV? It's been a good 2 years since last release. I'm ready to buy one, I don't know why they're delaying seeing as TV+ will be out imminently.
The Apple TV has never been on anything close to an annual schedule. Releases were in 2007, 2010, 2012, 2015, and 2017.
The current gen is an A10X, which is plenty fast enough to do just about anything you'd throw at it (including Apple TV+ and Apple Arcade).
Now, there are rumors there will be a new model, but there's just not that much pressure. Don't expect one based on the existing model's age.