Occurs on tvOS 14.7 beta, Apple TV 4K (2017). It only occurs when outputting to a stereo pair of HomePod minis.
80% of the time I tune to a channel, the video seems to freeze to allow the audio to sync up to it but then never unfreezes. A combination of skipping backwards and forwards usually gets the video to play again, but it is inconsistent. I can submit diagnostics this afternoon.