Alongside the release of iOS 13.5.1 and watchOS 6.2.6, Apple has also released audioOS 13.4.6 for HomePod. This update comes after twelve days post to the release of Software Version 13.4.5.
According to Apple’s, “HomePod software version 13.4.6 includes general improvements for stability and quality.”
Your HomePod should update automatically, however, if you want to update it manually, you can Go to the Home App on your iPhone or iPad, tap on the home icon of the top left-hand side of your iPhone display if you have multiple homes set up then select a home, scroll down until you find the “SPEAKER & TVS” Section and tap on Software update. If the update does not show up already swipe down to refresh for the update. Once you tap on update, all your HomePods will be updated at the same time. Happy updating!