You can download the iPadOS and iOS updates by going to System Preferences —> General —> Software Update.
tvOS 13.3.3 adds a setting that lets you bring back the “Up Next” queue to your Apple TV Home screen. To change the setting, update to tvOS 13.3 Then, go into the Settings app. Select Apps, then select the TV app.
To download tvOS 13.3.3 on your Apple TV (if it doesn’t update automatically), launch the System menu via the set-top box and choose Software Update.
watchOS 6.1.1 doesn’t include any new features, but provides performance improvements and bug fixes. To install it, launch the Watch app on your iPhone and go to General —> Software Update.
HomePod 13.3. It should be automatically via the Home app on an iPhone. If it doesn't, you can do it manually by tapping on the house icon at the top right of the screen, then scrolling to Software Update.