It doesn’t sync quite as well as it needs to, and maybe this isn’t a new feature, but I find using the HomePods in a stereo pair while ALSO still sending sound through the tv *almost* has a similar effect. Just need to be able to adjust which channels come out where and that could actually work.
If your TV would happen to have center channel out, or even subbing in a good soundbar for a center channel speaker, I suspect it would be night & day for your ears. TV speakers- even in expensive TVs- are notorious for being cheap and very poor quality of sound. Part of what makes HPs used in this way such an amazing upgrade is that it is their much improved stereo sound vs. the poor stereo in just about all TVs. But that's their limit- stereo left & right.
If you have any easy way to export center channel audio, try a true center channel speaker (or as a fall back that might be easier just to try something, a soundbar as center channel), I'm confident you would be impressed with the dramatic audio improvement.
I know a bit about this topic and I would always endorse at least a 3.1 setup, which is 3 "Dumb" speakers- left, center, right and a good subwoofer, powered by a good Receiver to which AppleTV and the television are connected. That will play ANYTHING vs. only what works in tight walled garden constraints... and everyone already has the same HP "smarts" + Siri in all of the other Apple devices they own: Mac, iDevices, AppleTV.
If someone wants a bit more, add at least 2 speakers in the surround positions: left & right... to make it a 5.1 surround sound setup. That's abundantly noticeable too in any 5.1 Dolby Digital content (most movies & TV shot in the last 30 years). No way to do that as well with faux surround (soundbars or stereo pairs claiming ATMOS).
If someone wants to max it out, add even more such as rears (7.1 or better) and overhead speakers for true ATMOS. Again, ears definitely notice vs. faux surround or faux ATMOS.
No one can find any professional cinema or theater with only a soundbar or 2 HPs down front. Visit any one for a movie and before the lights go down take a good look around. There will be speakers down front, speakers beside, speakers behind and probably speakers overhead. Somewhere in there, there will be a subwoofer or 2+ too. If a soundbar or 2 HPs could sound about as good, it would be FARRRRRRRRRRR cheaper to use them instead of such setups. So then the question becomes why don't professional theaters take the much cheaper option? The logical answer to that question points the way to much improved home theater setups.