Thanks for posting.
Are you able to sign into TV Go or is this message appearing when you open the app?
I'd recommend rebooting your TiVo® and Superhub and testing the app again.
Please let me know how you get on.
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As I understand it, only the Virgin TV Control app needs access to your TiVo or V6 so it can only be that app that gives the ‘cannot connect to Home network’ message.
If the OP wants to stream channels, they should use the Virgin TV Go app, not the Virgin TV Control app (ex TV Anywhere app).