It will scan the channel its on when clients are connected, that is a limitation of no security radio it needs to serve clients. When no clients are connected it is free to scan, there are some additional thresholds for busy times and dfs that apply as well so would scan for a free channel under certain conditions but isn't going to provide all of the same information all the time. https://documentation.meraki.com/MR/Monitoring_and_Reporting/Location_Analytics/Meraki_Auto_RF%3A__Wi-Fi_Channel_and_Power_Management this KB provides more detailed information.
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