I suspect if your client computers are dual-band (a/b/g) they are connecting to the dual-band APs on the 5GHz band so they have to reconnect when associating to 2.4GHz-only gear.
Try forcing your clients or APs to use 2.4GHz only as it is unlikely to slow them down, and you can't enjoy speed without reliability.

Perhaps a driver/firmware update might resolve this as well?