Update. I've now borrowed an Apple TV box to try out Channels on.
Channels v5.7.5
Apple TV 4K
tvOS 17.3
Sending this payload (the example in the docs with an added timeout)
{"title":"Alert","message":"Dad is home","timeout":25,"icon":"fa:door"}
The timeout works fine, staying on screen for 25s, but it didn't display any icon at all, just the text. Then I discovered that "door" isn't actually a font-awesome icon - door-open or door-closed are though and they both work fine on the Apple. So that problem is just a simple typo in the docs.
Sadly, "fa:door-open" still doesn't work on the Shield, which still shows the "!" icon regardless.
There is one thing that the Shield does better than the Apple on this though - I was able to get a multi-line message on screen by putting "\n" into the message and/or title strings, but on the Apple that just truncates the text to a single line ending at the first "\n". I don't know if a different line feed character would work or if that is just a limitation in the OS.
I know this will be very low priority but it would be a great feature to have fully working on Android, as I think I will be sticking with that for my clients.