Shouldn't need Anywhere Access enabled to access router locally when it is behind an access point

I have three Netgear products on my network. I am unable to connect to the R6700AX using the Nighthawk app when my iPhone is connected via WIFI to my WAX204 access point. If I move closer to my R6700AX so that the phone switches WIFI to the router it works. It seems like the app should be smart enough to detect the router even through the access point. It could even remember it is at 192.168.1.1 and go that route. There is a Netgear switch between the two, and all devices see each other just fine when looking at Attached Devices. I don't want to enable Anywhere Access for security concerns.