Our MN Tech Office 4K (3rd generation) Apple TV got stuck like this. After a minute I just unplugged it, replugged it in, and stepped through a few setup windows that it offered, once booted up. It seemed normal, and it had an entry in Jamf Pro, but it did need to have its name changed.
This article suggests a fix for the problem, reproduced below:
I had the same exact problem where the phone was stuck at the "awaiting final configuration from my company"
After restoring and trying again 3 times didn't work I called Apple Care.
The fix is to:
1.) log into your DEP portal https://deploy.apple.com/
2.) go to Manage Devices
3.) Enter the device serial number and choose "Unassign Devices"
4.) wait a minute
5.) Enter the serial number again then choose "Assign to Server"
6.) Select your MDM server
7.) Restore the device to factory settings with iTunes
8.) start over again and it should work
Worked for me. The Apple tech even stayed on the phone while we restored. They also said if you're attempting to restore an UNmanaged/Supervised device from an iCloud backup to a device that IS supervized you'll have the same problem but there's no solution for it. You'll have to use iTunes to backup/restore.
Hope this helped!