I wrote a blog post about it, but the TL;DR for a strong #zigbee mesh is
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Pick a zigbee channel that isn't getting stepped on by 2.4GHz wifi (which can be hard if you're in an apartment building or densely packed housing). Your best choices are using wifi channels 1 or 6 with zigbee channel 24, wifi 6 or 11 with zigbee channel 11, or wifi 1 or 11 with zigbee channel 18.
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Add powered devices to your mesh first. Start with the closest ones to your zigbee coordinator and work your way outward.
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Don't add battery powered devices until you've added all your router devices.
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Add new devices to your mesh where you’re actually going to use them so they connect through the nearest router node.
The post is at https://unixorn.github.io/post/zigbee-and-zwave-setup-tip/
@steve @nekusoul @JelleWho @zigbee @homeassistant
It hasn’t been an issue for me.