This post is a PSA because it describes a long-standing issue that has finally been fixed.
For a long time large groups of iOS devices would misbehave on networks with WPA3-personal security and 802.11r enabled. My personal iPhone 13 Mini would connect to my network and be able to roam between the two access points for the first 30 minutes, but after that it would stick to one access point. I sent loads of bug reports about this to Apple, and I'm happy to say that it has finally been fixed in iOS 18.1 (currently in beta).