Zigbee mesh heal?

Are there "tricks" to get zigbee devices to rediscover the "best" path to the hub?

I have a 2600sqft single floor house with hub in one corner (yes, not best, but that's where the router has to sit). I have a lot of non-repeating (battery/bulb) devices marked * - here's a list:
*20 ST motion sensors
*17 Keen vents
*5 bulbs
*2 multisensors
4 dimmers
2 switches
2 Iris plugs

To get my battery devices to consistently (mostly) reach back to the hub, I initially bought 6 of the Iris plugs and placed them in various locations to build out the Zigbee network. Yesterday I replaced several ZW dimmers/switches with Zigbee and they are nicely spread throughout. I have removed 4 of the Iris from my network.

I am now seeing issues with motion triggered actions not happening, or delaying a LONG time. I am pretty sure it is because those sensors don't know the right (or any) path back to the hub.

Wrongly, when I migrated from ST to HE I took the HE through my house as I joined devices - blame ST for bad advise in the past. So a lot of the devices are likely trying to connect directly to the HE and are having a tough time of it.

I'd like to "fix" this completely. I am wondering if I should do a Zigbee Reset then add everything back in (in situ as recommended above) and starting with the powered devices first then adding the battery devices - that seems logical. That said, however, what happens in HE when you do the reset? Are the devices "removed" and thus would need rename and adding back to automations? or are they just "kicked out" of the network and when rejoined they marry back up to their original device in HE (ideal).