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Apple's site is a bit contradictory on this. In another place it lists speaker features and it lists "Home theater with Apple TV 4K" as a feature of the full size HomePod but not the mini.

Inquiring minds want to know.

Home Theater uses the full size HomePod's to do 5.1/7.1/Dolby Atmos surround sound. It requires the spatial processing to allow for the surround sound experience.

The HomePod Mini can be used as a stereo pair, and connected to an Apple TV with no issues.

Weird. I see that too. Not sure what the table is trying to state then. https://www.apple.com/homepod/

This is handled via Airplay 2, so I can't see a reason why it wouldn't be supported on the mini.