According to the instruction from @Sti in this thread, after telnet was enabled on the first router, the steps to enable telnet on the second router are the following:
Also here is a similar question about telnet activating on the 2nd router, and a thread detailing how @gbordier finally solved the partition issue he faced (it looks like some non-standard situation for the "netmode: 4" method).
Hence, telnet can be enabled on both Xiaomi AX3200 (RB01) routers using "netmode: 4" method; and have OpenWrt installed on them.