Platform: Apple TV HD / Apple TV 4K
Introduction and announcement; not a sales date.
Apple source ↗Apple included tvOS 16 in its developer advances on June 6, 2022. The security document dates final release to September 12 for Apple TV HD and the two 4K generations then listed. The A15 Bionic Apple TV 4K was a later hardware announcement on October 18, with availability planned for November 4.

Apple Developer · Platform advances · 2022-06-06 · Apple · tvOS 16 security content · Apple · New Apple TV 4K · 2022-10-18
In her launch report, Juli Clover described Nintendo Joy-Con and Pro Controller support, connectivity between Apple TV apps and personal devices, and profile improvements using a shared keychain. These are possibilities for compatible apps and accessories, not proof that every older app adopted each feature automatically.
Juli Clover · MacRumors · tvOS 16 · 2022-09-12
Apple's October announcement described more compact Siri, personal voice recognition and iCloud Shared Photo Library as part of tvOS 16's evolution. Its note warned that some features would arrive later that year with another update. These promises are not all backdated to September 12.
Apple · New Apple TV 4K · 2022-10-18
That announcement linked HDR10+ to the new Apple TV 4K and compatible content, apps and display. Matter is not confused with Thread: Apple reserved Thread for the announced Wi-Fi + Ethernet model. The 16.1.1 and 16.3.3 rows retain the archive's third-generation-only scope, not HD or every 4K model.
Apple · New Apple TV 4K · 2022-10-18 · Apple · Security updates archive · 2022-2023
Selected releases, not a complete history. Dates follow Apple's release records, not the latest page edit. No builds are included.
ISO date: year-month-day.
Platform: Apple TV HD / Apple TV 4K
Introduction and announcement; not a sales date.
Apple source ↗Platform: Apple TV HD / Apple TV 4K (1st and 2nd generation)
Release date recorded by Apple, not the document revision date.
Apple source ↗Platform: Apple TV HD / Apple TV 4K (1st and 2nd generation)
Software update released according to Apple archive.
Apple source ↗Platform: Apple TV 4K (3rd generation)
Software update released according to Apple archive.
Apple source ↗Platform: Apple TV HD / Apple TV 4K (all models)
Software update released according to Apple archive.
Apple source ↗Platform: Apple TV HD / Apple TV 4K (all models)
Software update released according to Apple archive.
Apple source ↗Platform: Apple TV HD / Apple TV 4K (all models)
Software update released according to Apple archive.
Apple source ↗Platform: Apple TV HD / Apple TV 4K (all models)
Software update released according to Apple archive.
Apple source ↗Platform: Apple TV 4K (3rd generation)
Software update released according to Apple archive.
Apple source ↗Platform: Apple TV HD / Apple TV 4K (all models)
Software update released according to Apple archive.
Apple source ↗Platform: Apple TV HD / Apple TV 4K (all models)
Software update released according to Apple archive.
Apple source ↗Platform: Apple TV HD / Apple TV 4K (all models)
Software update released according to Apple archive.
Apple source ↗Platform: Apple TV HD / Apple TV 4K (all models)
Software update released according to Apple archive.
Apple source ↗