On openwrt, DAWN or usteer can both help your APs to get sounding maps from clients and to tell them which AP to join. Looking at the sounding maps is very fun data to see: highly tecommend! The settings aren't the world's greatest but they are pretty good starts! https://github.com/berlin-open-wireless-lab/DAWN https://openwrt.org/docs/guide-user/network/wifi/dawn
Multiple APs are really nice because you can turn down the AP power, ideally, as you add more stations. Unfortunately I don't think you can tell a client to be quieter though; someone's laptop can be at 200mW tearing the hell out of the spectrum when everyone else is nicely conversing at 10-20mW.
Might try it again though, I'd love for it to work. And I was also dealing with some baseline wifi instability that I think firmware updates has resolved.
Agreed that signals like RSSI are device dependent. And open source software like DAWN is not the best at adjusting to this automatically. But in principle, most devices will give your AP a sounding map on request, and most clients will obey instruction to move to a different AP. Even really bad devices have generally worked ok for me at this.
The counter advice if use the minimum number of APs leaves pretty large zones of bad reception, and still already accepts the problem of roaming for many people. It's my hope that open source et al get better, get more competitive with what is clearly possible, especially given that we seem so well positioned to have control that could make good decisions here. To give up, when we have so much rich data & options, does not tempt me.