Devices not switching between Orbi Router and Satellite

You probably need only the router plus one satellite to cover your home. You said it works from across the street, so that should indicate you have more than enough (probably too much) coverage.

if your devices get the throughput they need, then there is no problem.  However, you should probably turn your radio power down, especially on 2.4G. This will help devices switch to the strongest satellite. It will also be considerate of your neighbors, who will see your Orbi as interference. 

With that many Orbis, you could also consider turning off 2.4G, assuming all your devices are 5G capable.