Thanks guys, to answer your questions:
Router A is dual band
Router B is not. 2.4 Ghz only.
The routers are non Dlink and between themselves are different brands.
For both routers I use WPA2 AES.
I set it up on 2.4 Ghz with Router B. I tried to view the cam on my dlink lite app on both 2.4Ghz an 5Ghz. Both were unsuccessful with a big red X indrating the came is offline. The 2.4Ghz would serve as a local server view and the other as a remote. Aiso did not work with my phone on 4G.
I bought Router A two years ago and cant recall if I had problems reconnecting all devices, which includes older model Dlink cams. For some reason I dont think I had any trouble. In fact the SSID and PW on Router A was carried over from Router B.