This is correct. An AP will work in mesh mode, if it has no IP address on it's LAN interface. So one AP has to work as "regular" AP, it will be the gateway. The other AP, just powered up, will recognize that it has no IP address. Then it will connect wireless to a gateway AP. This needs no further configurations, this behavior is programmed in firmware. There is a setting in Network-wide, there you can activate or deactivate meshing. Of course, it must be activated. This is default. The APs will send a hidden SSID for meshing.
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