The common issue here seems to be AiMesh? As implemented, it doesn't seem to be able to give any convenience benefits and the maximum performance possible at the same time. Ignoring AiMess for now (for me and my customers).
Your assumptions that a router speaks AX or AC is fundamentally incorrect. Even if we had AX clients to use in our networks today. An AX router is not capable of being backward compatible with AC clients unless it has actual AC hardware/logic. It will either 'see' or
not 'see' a client device, based on that.
When we have more AX clients this conversation will be more interesting. Right now I think that a non-draft AX router will have features and configuration capabilities that will address these type of situations more directly.
Going back to your original post, I prefer building networks for my customers with a single router. If your network environment allows you to do the same, that is what I would suggest as your goal too.
Having exhausted all possibilities of having just a single router (including moving the router to a more central location, having it at least 10' above ground level, having at least 3' free air around it in all dimensions, positioning the antennae optimally, etc.), then I would add another router as an AP and readjust 'everything' to have even coverage with minimal overlap between the routers in all main gathering/living areas.
Adding a 3rd AP is something I'm called in for which results in me usually simply getting rid of the 2nd AP instead. Resulting in a less complicated network, a faster overall network and a much more stable network too.
If you are really required to use the main router and 2 additional AP's, then I would physically set them up so that the AX router is in the physical location where it will serve the most AX clients for most of the time.
Yes, trade-offs. This is WiFi at it's 2019 best.
Here is a crude diagram of what I envision, assuming the main router and the 2nd AP are the furthest from the most lived in area(s) that will be served by the AX router/AP:
Corner/BSMT ~15'/Wall(s) BSMT Living RM ~30'/Walls/Floors
Main RT-AC66U_B1 ==========>2nd AP RT-AC66U_B1==========================3rd AP 'AX'
Note that this is not in any AiMess configuration. This is strictly wired AP mode.