HDMI not permitted message with Roamio

I recently updated a Tivo Premier to a Roamio Pro. In both setups I had the Tivo running to an Xbox One through an HDMI splitter into a Samsung television. I had no problems with this setup with the premier and initially had no issues with the Roamio. Over the last 2 weeks I have been getting the message stating an HDMI connection is not permitted and it a an HDCP issue. The Xbox home screen shows up on the TV without any problems, but when I try to use the Tivo to watch TV it comes up with the error. If I turn the TV off and on 2 or 3 times or unplug the HDMI into the Xbox and plug it back in it eventually works. I have checked for firmware updates for the TV and there aren't any, I have tried replacing the HDMI cable from the Tivo to the Xbox to no avail. I am currently at a loss as to what the problem is.