Shameless self plug: GitHub - Nerwyn/android-tv-card: 📺 Android TV Remote Card (with touchpad and haptic feedback)
It’s a fork of a card that implemented the touchpad from the card in the parent post. My version is made to work with the Android TV Remote integration out of the box but it also supports remapping directional swipes and touch by remapping the direction and center keys, so with some work you should be able to use it with anything.
Here’s an example of an Apple TV config which should work: Android TV Card - A TV Card Fork for Android TV - #15 by Nerwyn