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This is built into Roku now. I can AirPlay to all my TVs, and I’ve never had an Apple TV.
My experience with Airplaying to a Roku-based TV is that it isn’t as smooth. E.g., screen mirroring a Mac had noticeable mouse lag, whereas it was pretty buttery smooth with an AppleTV.
Maybe newer Rokus have addressed that problem, though.
I haven’t tried with a Mac, but it works well with my iPhone. My TVs are at least a couple years old.