While it’s perfectly reasonable to have an Apple TV and a HomePod in the same room, Apple hasn’t optimized parts of its software to handle this very well. For example, if you name both your Apple TV and HomePod ‘Kitchen’ as the software will suggest, the result is the second device appending a (2) to the device name.
That’s clunky but it works. The trickier issue this creates is how AirPlaying system audio from macOS works. iOS and iTunes provide device icons to distinguish between Apple TVs and HomePods, but the system audio menu omits these which makes naming devices by room even more confusing.