Thats what i said 1 IP( 9 Sensors ), so first the ESP handles the signals, then Your IP-Router(s), As i assume Your ESP don’t communicate direct to HA ! ( However i have no experience with DIY-ESP’s (Only those chips which are “build-in” in a few of my Devices( Plugs )
Then You should start reading about WIFI & Zigbee co-existence Network, before considering Zigbee, and/or selling Network Solutions/Services
Right, There is nothing wrong with a good stable IP Network, and based on what you said.
There are diffidently rooms for “improvements” ! , In an IP Network there are a golden rule " What can be wired should be Wired, regardless.
And WIFI cost Usage, alot more than you think, TV’s, 4K Cams in particular
As you say 4 Access Points, all auto, there is basically ( No “Rooms” for zigbee ) .
To what you say, i also then assume you don’t know much, or haven’t “played” with bandwid, or more advanced setting for your wifi ( I.e 5gHz )
Advice:
Wire what can be Wired
“Force” Phones/Laptop/Cams(if supported) to 5gHz frequency, then you will have “Room” for as many IP-Devices ( smaller IOT-Devices , i.e ESP’s ) your 4 AP’s Supports(however those “lives” together/are configured.)
My self i have as most people a mix of WIFI ( 1 wifi-channel ) / Zigbee(2 network/ 2-Zigbee-Channels ) , 5 Bluetooth Device( Not a fan of Bluetooth in HA, on my Phone/Laptops i enable it when i need it ).
This co-exist fine with bunch of 433mHz, and currently just a few of 868 / 922 mhz Devices(Currently not in HA, unfortunately) … Haven’t found a suitable Integration for the WIFI-Hub(Tapo) where these Devices Lives, i Thought i read it was Supported in some Integrations, But apparently that turned out be wrong, and unfortunately still not many people have found this “path” to releave the 2.4ghz frequency
433/868-922 mhz it’s way more stable, better “penetration/coverage”, better signal-strengh etc. Suitedable for Plugs/Switches, Temp/Humid-Sensors etc.