Disappointed in flexibility of Orbi Mesh Network

I have a similar setup to yours. Albeit, with an ORBI RBR50 router and two RBS50 satellites. I have 6 home security cams distributed around my 3000 sq ft house. Four are dual band and two are 2.4 Ghz only. I also noticed similar issues you mentioned. However, it usually occurs on only one or two cams. Oddly, it is the 2.4 Gh cams that seem to "wander" off the closest satellite. Here's what I did to minimize this "drift":

1) Be certain you've deconflicted channels on both freqs with any WiFi signals that are nearby.

2 Assign fixed IP addresses to each camera using the "Advanced" tab on the ORBI web GUI. Reboot the sats & router.

3) After fixing the cam IP addresses and rebooting, allow the ORBI to settle for 20-30 minutes. Recheck the web GUI to assure the IP addresses are as assigned.

4) Power down all your cameras. Power down the router and satellites. Power cycle your modem. Power up the router and satellites one at a time (router first).

5) Power up your security cams, one at a time. After all are back online check the IP addresses and connection status (which sat are the connected to).

After accomplishing this IP/Power Cycle waltz, you should see connections to the proper satellite and freq.  One other item to consider is the type of construction in your house and exterior walls–as well as, any appliances or metallic objects betwen the offending cams and sats/router. Sometimes simply moving a satellite a few feet will make a huge difference. Good Luck!