HomeKit devices on 2.4GHz and iPhone on 5GHz - does it work?

Right now, I have the same SSID for 2.4 and 5GHz network with AppleTVs, HomePod and HomePod mini, LIFX bulbs and a couple of cameras working seamlessly with the rest of the Apple devices (iPhone, iPad and Macs).

Since most of the HomeKit devices (apart from AppleTV and HomePods) prefer 2.4GHz (heck, they only work on 2.4GHz), can I use a separate SSID for 2.4GHz and still maintain seamless connectivity with the rest of the iPhone, iPad, Mac devices on the 5GHz network with a different SSID?