Oh man I feel your pain. In my case with 3xRT3200's I just set it up in LuCi (WPA2-PSK) with all defaults save for setting FT over air and reassociation deadline to 20000 and it just works even for Pixel 3a. I could post my config if that'd be helpful.
I do have some trouble with Apple devices getting disconnects or connectivity issues requiring manual WiFi disconnection and reconnection at the device.