Signed IPSW files can be restored via iTunes. Unsigned IPSWs cannot currently be restored via iTunes.
✗ | Apple TV 4 (2015) | tvOS 15.5.1 (19L580) | 25th May 2022 | 3.39 GB | AppleTV5,3_15.5.1_19L580_Restore.ipsw |
✗ | HomePod mini | audioOS 15.5.1 (19L580) | 25th May 2022 | 2.67 GB | AudioAccessory5,1_15.5.1_19L580_Restore.ipsw |