Android 13 or later, on the same Wi‑Fi as the Apple TV.
On your phone, download Remote.apk and open it. Android will ask you to allow installs from your browser the first time.
Open Remote, pick your TV, and type the code the TV shows.
Optional: add the Remote tile to Quick Settings, the panel you pull down from the top of the screen, to open it in one tap. Remote offers to add it after you connect.