Help getting started with Roku devices, including setup, connecting your device to your TV, linking a Roku device to your account at my.roku.com/link, adding channels, subscribing to services, and more.
As long as you have a HD set (at least 720p) any current Roku model will work with it. My 4K Roku Stick+ works great with my non-4K 1080p Samsung. I would suggest setting Settings > Display type to the tv's actual resolution rather than leaving it on "Auto detect".
If you don't know your set's resolution, check the manual that came with it if you still have it, or do a web search for your model number's specs online.
Roku Streaming Stick +, 3810X, Ser YH0059427035, wifi - Samsung UN55ES6100
Roku Streaming Stick, 3600X, Ser 5S56D8240827, wifi - JVC EM37T