Can you force a device to the router or one of the satellites?

The short answer is, "no".  There is not a mechanism to force a device to connect to a specific Orbi (router or satellite).

What you CAN do is "encourage" a device to connect.  Devices which are designed to "move", such as phones, tablets, laptops, are programmed to constantly hunt for a better WiFi signal.  When I move from upstairs to downstairs with my phone or tablet, within about a minute it switches to the other Orbi.  Devices that are not expected to move around (computers, thermostats, security cameras, printers, tv's, etc.) typically are not programmed this way.  When they connect to a WiFi access point, they tend to "stick" as long as the WiFi is at all useable.

So, if you temporarily turn down the WiFi signal strength, then restart a device, it may wake up and say, "Hey, this WiFi access point is best for me", and connect.  Later, if you turn the WiFi signal strength back up, the device will ignore that and stay connected where it is.

The key, however, is performance.  If a device is "working fine" but we simply think it should be connected somewhere else, it's probably a waste of our time to mess with it.