Recently, I made a small project using Home Assistant, an ESP32 Mini, and an NFC reader that allows me to open a specific link on my Apple TV once a tag touches the NFC reader. This works thanks to Home Assistant automation.
Is it possible to achieve the same action but without Home Assistant, by pairing the ESP32 directly with Apple TV?
Can I make make a bridge between Arduino and Apple TV without anythings? Maybe I can use phone to pair them but let them work together after
Not really. The Apple TV primarily uses the Apple TV Remote Protocol for communication and I'm not aware of anything robust for ESP32.
Home Assistant uses the pyatv library, which is a well-maintained Python library that implements the Apple TV Remote Protocol and other related protocols but it still depends solely on private and reverse engineered protocols and so things could break...