Short answer is wifi was never designed for "mobile" use unlike cell tower software.
So many people seem to want mesh systems for roaming and have no idea what it is really used for. Using VoIP calling is the one application where this is really needed everything else is pretty much stupid......I mean watch netflix while you walk down your stairs
Many years ago when the cell companies still charged by the minute for usage the company I worked for tried to make wifi call roaming work. It sorta did BUT it required a special app on the phone and in those days only a small number of phones could run the app. This worked along with cisco fancy AP and controller that
could control where the phone connected to. Since cell companies change the policy the cisco solution is too costly and was such a pain to deal with.
The problem you have is end device not your network control the roaming. It is very stupid system designed to favor stability rather than performance. What is does is it will only check for another wifi source when the power level is below some number. It then disconnects and scans and hopefully finds a stronger signal.
Even in the very best case you will still take a small interrupt that you will be able to hear on a phone call. This would have to be completely redesigned so that the network could tell the phone when and where to switch.
Your best option for this to work is to place the 2 AP with as little overlap as possible but still enough that when the signal level on one is low the other signal is good enough. You make it too little overlap an the phone will just hop back and forth. This all is trial and error by setting ..ie reducing ..the wifi power level in the AP.
I have unlimited minutes on my cell phone and the one case where I need to use VoIP to make international calls I just run it over the cell data network. It all depends on if it is cost effective to use a cell system that was designed for this issue or to hack on wifi stuff.