Orbi, U-verse TV and BGW210

I have the setup above and am currently running in AP mode.

 

I am wondering:

 

Is there an advantage to setting the Orbi as the main router instead of using AP mode?

 

If there is, what are the step by step instructions for configuring this scenario and what do I have to do to make sure both my wired and wireless U-verse TV receivers continue to work?

 

Please and thank you.