Devices connecting to main router when satellite is closer??

Unfortunately, yes this is normal. When the router is rebooted, WiFi on it is enabled before WiFi on the satellites. This causes IoT devices to connect their WiFi to the first WiFi seen rather than the strongest WiFi signal. I have IoT devices and IP Cameras that are closer to both of my satellites than they are to the router. When the router reboots, these devices connect to the router rather than re-checking for the stronger signal from the closer satellites. Smart phones, laptops, tablets, etc expect to roam, so they will recheck their WiFi for a stronger access point.