Apple has today released TVOS 13.4.5 for Apple TV 4K and Apple TV (4th generation).
Outside of the major upgrade each year, tvOS updates are typically minor in scale with a focus on under-the-hood fixes and performance improvements. As Apple does not provide release notes for tvOS updates, we will have to wait and see if tvOS 13.4.5 does include user facing changes. We will update this post if anything of note is discovered.
To install the update, go to Settings > System > Software Updates and Select Update Software. If there's an update, select Download and Install. Wait for your Apple TV to download the update. Don't disconnect or unplug your Apple TV until the update completes.