No.
When arriving home, it will connect to the first WiFi network it has in an ordered list of known WiFi networks it (and all your other Apple devices) maintain.
It will hold on to that network until the signal becomes too weak to hold a connection, then it will go back to the list and search again.
If the iPhone is in Bluetooth range, it will always use Bluetooth to get the iPhone to do the WiFi or cellular heavy lifting.
The mesh network may force any WiFi device to switch to a different mesh access point by withdrawing access in the access point the device is currently using. The mesh network talks to all the mesh access points and can determine which is the best for a specific device. NOTE: this is only if the mesh network has device switching support. Check with your mesh vendor.