Short answer:
Yes, you can build a mesh network with two routers.

Long answer:
I have two routers and one access point ;-) In addition to the router with my internet provider modem, which I operate in bridge mode, I need a device with a LAN connection in one room, so I decided to have a second router. The access points have Google Assistant and can serve as speakers (ask who needs this tinny sound), but unfortunately no LAN connection.