re: Is there a way to run multiple routers in a home?

Yes.

Internet feed router has normal setup. Turn off DHCP and NAT on second router. Plug one of the switch ports of the second router into one of the 4 switch ports on the first router. Use same SSID and password.

Voila.

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I'd also recommend you have your second "router" broadcasting on a different channel than your first. This will help in areas where both signals are relatively strong.

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This too. Usually they can negotiate that automatically. Not a bad idea to manually set it, though.