BE9500 Mesh Configuration

I recently purchased 2 TP-Link BE9500 / Archer BE9500 routers at Costco. I currently have both connected directly into my XFinity cable modem and want to set up in a mesh configuration.
I can't find any good step-by-step information on how to do this. For example, do I need to connect one of the routers to the other rather than to the XFinity modem? Can I leave them hooked up as they are and somehow configure for mesh as they are?
Thanks in advance for your help...Jim
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I do not use MESH.
Generally, when you connect any router to the ISPs modem/router, (gateway) you need to put the ISP's gateway into bridge mode, Power off and unplu the ISP's gateway for 5-10 min, plug in and power up the gateway, then connect your router to the gateway via Ethernet.
You would connect only one router to the gateway. Depending on the MESH system, you would connect the MESH to each other via cable or wireless.
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@ArcherC8 - thank you for the response.
What ended up working was that I configured both as access points and not as routers. Gave them the same name and password for each mHz. Connecting each directly into the Xfiniti modem/router. No MESH. No connecting the routers to each other.
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So what you have done is leave the Xfinity Gateway as the main router. Just added APs to extend the coverage which also works but also means you are not using it as MESH system which is fine.
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