The 802.11k standard specifies how the neighboring BSS' could report each other to a STA. OpenWRT's hostapd supports this feature, but the synchronization has to be done in a separate daemon such as this one.
It is more lightweight than DAWN (many thanks to Polynomdivision), basically it is based on this script How does rrm work? - #60 by ParanoidZoid although it is improved a bit so the neighbor report would include the other band interface for the same AP and some more fixes.
Tested on 20.02rc2 with 22 different AC1750. Using 802.11r configured roam over the air, and disabled the bss transition bit on the network it works like a charm. Walking with my 2,4GHz only phone wifiman show roaming well. My Arch based dual band laptop works even better. Cannot even notice that walking along the corridor my BSS changes nearly every second step.
I've plans to make a package from it and make it published as an ipk. I'll also add a sample config file for /etc/config/wireless so the whole test setup could be reconstructed.
Update: I've missed the github link: https://github.com/simonyiszk/openwrt-rrm-nr-distributor