Orbi RBR40 router - 2 on 1 network?

I bought an Orbi Kit with the RBR40 router and 2 R BW20 satellites. It worked fine until I moved to a much bigger house with an outside area that needs coverage. I have access to a similar kit (only 1 satellite) from a friend for free. I believe I need at least 2 satellites extension points for full coverage. Can I install the 2nd router on teh same network (same name) and will it act like a satellite and extend the network? Or am I limited to one router and can only use the satellites to extend the coverage? Sorry if this is obvious. I'm not a networking guy.