If your current ac router is working fine and meeting your bandwidth requirements, there is no need to upgrade to WiFi 6. If you want to upgrade, I'd still wait for WiFi 6E, which adds 6GHz spectrum with many more uncongested channels.
I am happy with my WiFi 5 setup for phones, laptops and a couple of PCs throughout the house, it's perfectly fine as far as speeds go. I do have gigabit Ethernet for my office PC, printer, NAS and TV.
Google Home Mini and most IoT devices only use the 2.4 GHz spectrum anyway.
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