I found the solution that worked for me. I'm posting it here in case it can help anyone else.
Before you Begin:
Note: I use JAMF Pro as our MDM
Other Note: The only time you really do anything on the Apple TV is resetting it. Everything else is through Configurator and ABM
Other Other Note: If the Apple TV is not showing up in Paired Devices, turn off your Wi-Fi on your MacBook and then turn it on again. If it still doesn’t show up, you’ll have to Release the Apple TV from ABM (or reset the device) and start over
Steps to Enroll Apple TV:
Reset Apple TV & Update to Latest Version
Go to Paired Devices, click “Pair” and put in the code displayed on the Apple TV.
The Pairing may “fail” but is successful as long as the record shows up in Configurator
Click Prepare.
Prepare with: Manual Configuration
Select:
Add to Apple School Manager or Apple Business Manager
Activate and complete enrollment
Supervise devices
Allow devices to pair with other computers
Click Next and Select an MDM server (Can be any, it won’t apply in ABM correctly until you change it in ABM anyways)
Click Next and Select an Organization
Click Next and Select Setup Assistant Steps or show all steps. If you can configure skipping steps in your MDM PreStage Settings, you can leave it as “Show all steps”
Click Next and Add a Profile (.mobileconfig) file that ONLY contains a Wi-Fi configuration
Click Next and Provide Automated Enrollment Credentials if applicable. JAMF in particular does not need these credentials.
Make sure you’re logged into ABM in Apple Configurator before clicking Prepare
Click Prepare
The error: An unexpected error has occurred with “Apple TV” may appear. This is okay. Click Stop.
Unpair the Apple TV in Paired Devices.
Wait for the Apple TV to come back online.
Should be in ABM now
Change the MDM server to the correct one in ABM
Wait for the Apple TV to show up in PreStage enrollment in your MDM (If applicable)
Re-pair the Apple TV in Paired Devices
The Pairing may “fail” but is successful as long as the record shows up in Configurator
Click Prepare
Prepare with: Automated Enrollment
Click Next and Do not apply a Profile (.mobileconfig) this time
Make sure you’re logged into ABM in Apple Configurator before clicking Prepare
Click Next and Provide Automated Enrollment Credentials if applicable. JAMF in particular does not need these credentials.
Click Prepare
Wait for the Apple TV to load into the main app screen. If it takes longer than 15-20 minutes, you will need to issue either a “Restart Device” command from the MDM or unplug, and then plug in the Apple TV.
WARNING: Do so at your own risk as you risk device corruption if unplugging it.
The Apple TV should be managed at this point.
—The below step specifically worked for JAMF Pro (Resolving the Pending DeviceConfigured Command)—
Once in the main app screen, reset the device again and then let it re-apply the config profile by itself.
Note: In JAMF Pro, In PreStage Enrollment, I had the options: Install configuration profiles before Setup Assistant and Automatically advance through Setup Assistant (tvOS only), selected.
I could not get the command to complete or enrollment to finish without it
—
These were my steps for JAMF and Apple Business Manager. Your mileage may vary.
I tested this flow on an Apple TV 4th Gen (Model: MR912LL) and an Apple TV 4K (Model: MQD22LL).
Both TV's had tvOS 17.6
