I understand that Apple automatically updates the firmware for AirPods while charging when connected to an iPhone.
I have some AirPods used only with Apple TV. Will those get updated as well? Or should I occasionally connect the AirPods to my iPhone (and leave charging)?
Apple published the page About firmware updates for AirPods. That page lists current firmware version numbers. As for updating, it says:
Firmware updates are delivered automatically while your AirPods are charging and in Bluetooth range of your iPhone, iPad, or Mac that's connected to Wi-Fi.
That document omits any mention of Apple TV. So I would conclude that Apple TV does not update firmware, but I thought I would ask for confirmation here.