Disclaimer: worked for Meraki (now Cisco Meraki) for several years.
Generally, halfway decent wireless APs are all targeted at the enterprise market. Consumer hardware is a brutal race to the bottom, as lay consumers aren't qualified to compare options based on anything but price and UI. Ubiquiti was an outlier in trying to bring enterprise features to the consumer market
The problem for enthusiasts and small business/home office setups like yours are that both the enterprise market (e.g. Meraki) and the premium consumer market (e.g. Google WiFi) focus heavily on ease of management - cloud controllers are table stakes these days, not a controversial feature. Part of that premium that Meraki, Aruba, and that class of enterprise supplier charge is about having a trustworthy and secured backend.
Note, however, that roaming between APs is a feature of the 802.11 standard; you just need to have all your APs on the same layer 2 (802.x) network, and using the same SSID and credentials. No fancy hardware required, and you can even mix and match vendors.