The GPLv3 does not stop what Tivo actually did, and both GPLv2 and GPLv3 do stop what became known as Tivoization (preventing modification).

What Tivo actually did was break their proprietary software when you modified the GPL parts of the system.

Some related links:

https://sfconservancy.org/blog/2021/mar/25/install-gplv2/ https://sfconservancy.org/blog/2021/jul/23/tivoization-and-t... https://events19.linuxfoundation.org/wp-content/uploads/2017...