Open the Home app, then select the HomePod, scroll down to Accessibility, turn on Touch accommodations and finally enable Hold Duration, set it to a few seconds (as of writing, 4 seconds is the maximum).
… for when you just can't seem to remember that damn command
Open the Home app, then select the HomePod, scroll down to Accessibility, turn on Touch accommodations and finally enable Hold Duration, set it to a few seconds (as of writing, 4 seconds is the maximum).