If your SSID is wpa2 psk and bridge mode then you only need enough overlapping coverage to have a seamless roaming experience.
If you're using wpa2 enterprise then you'll need to use 802.11r fast transition and also the coverage overlap.
In Wi-Fi you can never be connected to more than one AP at a time so you will always experience a 50-80ms drop in connection however it takes around 150ms delay to notice quality degradation.
If you still have issues then you should check your drivers of the client and.. check the airtime utilization on both AP channels.