I do it with an air mouse keyboard combo[1]. See below, it's in between, it's small like a remote and sucks to type on, but better than selecting letters onscreen.

https://www.amazon.com/Wireless-Keyboard-W1-Multifunctional-...

You can connect a Bluetooth keyboard to an Apple TV.

we use voice or input from phone (we get a prompt on phone when we highlight a textbox on apple tv)