Various embodiments herein disclose coordinating neighbor discovery between access points (APs) with auxiliary radios and APs without auxiliary radios. A corresponding wireless controller comprises a processor and a memory storing instructions that, when executed, cause the controller to perform operations. The operations comprise grouping APs into a first group of more flexible APs and a second group of less flexible APs and querying the second group of APs for a corresponding broadcast interval. The operations further comprise identifying when the second group of APs is scheduled to broadcast parameters, and a broadcast interval for each of the second group of APs and generating a schedule based on the scheduled broadcast and the broadcast interval for each of the second group of APs. The operations additionally comprise providing the generated schedule to the first group of APs and the second group of APs.