Program Roku remote to control newer LG tv

I have a new LG TV that I want to control with my Roku remote. My Roku remote is an enhanced voice remote that works with a HDMI stick.  I tried the recommended steps to achieve TV control multiple times over three days without success . In the process Roku recognizes my LG TV brand but can never achieve the control.  My Roku stick is a few years older than the LG TV.  Do I need to get a newer Roku system?