The patch proposed and accepted here is a partial fix for this bug.
https://marc.info/?l=linux-netdev&m=163579523718765

It adds an option for the wifi supplicant to choose not to clear the ARP
cache when roaming.

https://github.com/torvalds/linux/commit/fcdb44d08a95003c3d040aecdee286156ec6f34e
https://github.com/torvalds/linux/commit/18ac597af25e9760b76471524096f5b29eb820e6
https://github.com/torvalds/linux/commit/f86ca07eb5310a1bdc7032458c7f76862f5a1552

The iwd supplicant adds a patch here to use this which is the other half
of the fix:

commit 873924a027ad2166436b8117a6bb84ce980ad7f3
Author: James Prestwood <[email protected]>
Date:   Wed Nov 3 15:15:01 2021 -0700

    station: set evict_nocarrier sysfs option during roaming
    
    If the kernel supports evict_nocarrier set this during the roam
    to prevent packet delays post roam.

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https://bugs.launchpad.net/bugs/1944426

Title:
  Delay sending data after wireless roaming between APs

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