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There are off-the-shelf all-in-one Asus home routers that do VLANs?

Many Asus home routers advertise compatibility with and/or run OpenWRT internally, so yes to a certain reading.

Here's a random example I found:

Installing a custom firmware on a router does not count as 'off-the-shelf' imo.

I’m not speaking hypothetically, as I have used VLANs on native stock Asus firmware.