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Two Nighthawk AX5400 (RAX50) routers in one house? U-Verse related!
Our house is in the shape of a capital "L". Our U-Verse BGW210 is located at the small end of the "L". Our bedroom & office are located at the big end of the "L". As a result, our wi-fi reception is ...
If you already have 2 RAX50s, then simply running an Ethernet cable to the locationyou want to place the RAX50, and putting the second one in AP mode and set to the same SSID and password as the main router/AP, and things should work pretty seamlessly.
The only downside is that the bottleneck will literally be the gigabit Ethernet connection to the main router. The 802.11ax 5GHz radio in the RAX50 can easily do 1.7 Gbps to 1.8+ Gbps in real world throughput between itself and multiple wired clients. But if communicating across the backhaul, everything will top out at 940Mbps since the RAX50 lacks a 2.5GbE port.
Beyond that, roaming will largely be client directed with only some benefit from 802.11k, thus newer clients made in the last 8 or so years will roam pretty smoothly, but older clients will be more sticky where they will only roam when the signal is weak.
A mesh system like the Orbi devices have the full range of roaming assists, and will provide a faster and smoother experience, though a wireless backhaul will not perform as fast as a wired one unless you are using one of the higher end orbi devices, though most of the Orbi units can also use a wired backhaul if needed.