On openwrt, DAWN or usteer can both help your APs to get sounding maps from clients and to tell them which AP to join. Looking at the sounding maps is very fun data to see: highly tecommend! The settings aren't the world's greatest but they are pretty good starts! https://github.com/berlin-open-wireless-lab/DAWN https://openwrt.org/docs/guide-user/network/wifi/dawn
Multiple APs are really nice because you can turn down the AP power, ideally, as you add more stations. Unfortunately I don't think you can tell a client to be quieter though; someone's laptop can be at 200mW tearing the hell out of the spectrum when everyone else is nicely conversing at 10-20mW.
Might try it again though, I'd love for it to work. And I was also dealing with some baseline wifi instability that I think firmware updates has resolved.