Thanks for the updated image. Yes, testing each channel for throughput, stability and lowest latency is highly recommended (don't bother with utilities like inssider; simple test each channel and pick the one with the best, overall performance. On the 2.4GHz band, test only the 1, 6 and 11 channels. On the 5GHz band, you have to test each channel individually as they don't overlap like they do on the 2.4GHz band.
How high above ground level (not just the 'floor') are both of these routers? A minimum of 10' (3M) with at least 3' (1M) free space all around them is recommended. If they are both at the same height, put the antennae straight up and not in the Asus recommended \|/ ('w') configuration.
To test the channels properly, attach a computer or laptop with a fast drive inside directly to one router (to a LAN port). On the other router, connect another computer or laptop directly to a LAN port again. Test for throughput of a large file (2GB or larger) and lowest latency (how fast the web responds). Now, change channels on the 5GHz band (don't forget to reboot the router and both laptop computers) and test again.
Keep notes and find the channel with the best overall experience for the 'link'.
After that is done, leave the one laptop connected (I would leave the one on the router that provides internet to the other) and connect the other laptop wirelessly. Repeat the above testing on the 2.4GHz band at both locations (routers) and at various areas you want covered. Keep good notes (again) and choose each router's 2.4GHz channels that are the overall best.
Unless you just happened to be using the best channels already, the above should give you a significant improvement in throughput, latency and reliability of your WiFi setup.
Of course, running a good Ethernet cable to the second router is much more effective and will give the best performance (while being probably less work too).