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ActivityPub is actually a good way to authenticate things. If an organization vouches for something they can post it on their server and it can be viewed elsewhere.
AP has some pretty big issues when it comes to moving servers, expiring and re-purchased domain names, and other such edge cases. Servers either blindly accept new keys after a certain time, or are vulnerable to enabling key ransoming after hacks (the reason HKPK went nowhere).
Can’t you add an extra SSID just for the cameras? Using different SSIDs breaks the technology designed to solve this exact problem.
That’s assuming your access points have somewhat decent software, of course, without fast roaming you’ll be screwed regardless.