Hi @jonahss: As I understand, appium-xcuitest-driver should support tvOS.
I tried getting the latest code (from master), and I don't think there is platformName tvOS (desired capabilities).
Based on the available sim in xcode 7.3.1, I tried with
"deviceName": "Apple TV 1080p",
"platformVersion": "9.2",
"platformName": "iOS"
And it throws an error " Original error: Sdk '9.2' was not in list of simctl sdks". Any ideas - does the desired caps look ok? Note: same setup launches (say) iPhone 9.3 sim fine.