Well, a mesh router - most of them - are going to configure the path that is most efficient for the traffic they carry. If they are router and satellites, they are likely dual band vice tri-band. So, the connection to your main router is going to (probably) going to be better for your use than connecting to either of the satellites. That’s because yours are connecting the satellite to the main router over the 5GHz band, even thought the camera would connect to either on the 2.4 GHz band. (The router to satellite path is sharing the 5 GHz band with whatever else you are using the 5GHz band is using.
Bottom line is: your camera connection to cloud is better/faster with the connection to the router than satellite>router>cloud.