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tvOS has supported vp9 since last year, the youtube app however has been slow getting that message...

https://9to5mac.com/2020/09/18/4k-youtube-videos-still-not-c...

Somehow, google has made it so that the best way to watch YouTube on an Apple TV is to open YouTube.com in a browser on another apple device and airplay to the Apple TV.

Looks like it's been supported since October 2020:

https://www.theverge.com/2020/10/3/21500399/apple-tv-youtube...

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