Apple TV+ doesn’t have an ad-free tier. They have a tier they call ad-free where they still force you into pre-roll ads for apple products. Unfortunately that’s the same for most streaming services that claim to be ad free.
- I can always fast-forward through anything on Apple TV, and in fact for the ads you mention, there's a button in the lower-right corner specifically to do that. It's the same as the "skip intro" button, which I also habitually press.
- These ads never come up slap bang in the middle of the content, they're only ever at the start and that's it.
Together, these make it far far less intrusive.
[In Common People an apparently life-changing medical intervention is gradually monetised, jacking up fees, adding new "premium" tiers that degrade until they're no better than the old baseline and eventually by inserting advertisements directly into the patient's actions any time they aren't paying everything they have ...]