Here is how I would set it up.
Assumptions 2 radios in your APs (using one radio for normal personal use, the second radio will run two VLAN, one on the main radio and the other on a virtual radio.
Not using APs for any wired connections to other devices but that could be added easily.
The Main Router config:
/Interface list
Lan
Wan
/Interface list members
Lan=Bridgehome
Lan=vlan10 (guest wifi)
Lan=vlan20 (untrusted users)
Wan=eth1
/interface bridge
add name=Bridgehome vlan-filtering=yes
/interface vlan
add interface=Bridgehome name=VLAN10 vlan-id=10
add interface=Bridgehome name=VLAN20 vlan-id=20
/interface bridge port
add bridge=Bridgehome interface=ether2
add bridge=Bridgehome interface=ether3
add bridge=Bridgehome interface=ether4
add bridge=Bridgehome interface=ether5 (trunk type port to AP1)
add bridge=Bridgehome interface=ether6 (trunk type port to AP2)
add bridge=Bridgehome interface=ether7 pvid=20 ingress filtering=yes (untrusted users)
add bridge=Bridgehome interface=ether8 pvid=20 ingress filtering=yes (untrusted users)
/interface bridge vlan
add bridge=Bridgehome tagged=Bridgehome untagged=ether7,ether8, vlan-ids=20
add bridge=Bridgehome tagged=Bridgehome,eth5,eth6 vlan-ids=10,20
/ip pool
add name=DHCP-home ranges=192.168.0.100-192.168.0.200
add name=DHCP-vlan10 ranges=192.168.10.100-192.168.10.200
add name=DHCP-vlan20 ranges=192.168.20.100-192.168.20.200
/ip address
add address=192.168.0.1/24 interface=Bridgehome network=192.168.0.0
add address=192.168.10.1/24 interface=VLAN10 network=192.168.10.0
add address=192.168.20.1/24 interface=VLAN20 network=192.168.20.0
/ip dhcp-server network
add address=192.168.0.0/24 dns-server=192.168.0.1 gateway=192.168.0.1
add address=192.168.10.0/24 dns-server=192.168.10.1 gateway=192.168.10.1
add address=192.168.20.0/24 dns-server=192.168.10.1 gateway=192.168.20.1
/ip dhcp-server
add address-pool=DHCP-home disabled=no interface=Bridgehome lease-time=7d name=Home_Server
add address-pool=DHCP-vlan10 disabled=no interface=VLAN10 lease-time=7d name=DHCP-vlan10
add address-pool=DHCP-vlan20 disabled=no interface=VLAN20 lease-time=7d name=DHCP-vlan20
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
For WIFI, I am going to use one RADIO for the trusted house_users
I am going to use the second Radio for Guest WIFI (vlan10)
I am going to create a virtual AP from the second radio for Untrusted Wifi. (vlan20)
(repeat for second AP but use different naming conventions so you dont get confused)
Access Point Config:
/interface bridge
add name=BridgeAP1-Port5 vlan-filtering=yes
/interface vlan
add interface=BridgeAP1-Port5 name=Wifi-VLAN_Guests vlan-id=10
add interface=BridgeAP1-Port5 name=Wifi-VLAN_Untrusted vlan-id=20
/interface bridge port
add bridge=BridgeAP1-Port5 interface=ether2 (assuming wired from Router)
add bridge=BridgeAP1-Port5 interface=RadioA (will be your personal wifi)
add bridge=BridgeAP1-Port5 interface=RadioB1 (will be for vlan10 -guests)
add bridge=BridgeAP1-Port5 interface=VirtualRadioB2 (will be for vlan20 -untrusted)
/interface bridge vlan
add bridge=BridgeAP1-Port5 tagged=BridgeAP1-Port5,eth2,RadioA,RadioB1,VirtualRadioB2 vlan-ids=10,20
/interface wireless (assuming 2 radio device)
set [ find default-name=wlan1 ] band=Xghz-b/gn/ac? country=? disabled=no
distance=indoors frequency=? mode=ap-bridge name=RadioA
security-profile=family_profile ssid=HouseWifi
wireless-protocol=802.11 wps-mode=disabled
set [ find default-name=wlan2 ] band=xghz-? country=? disabled=no
distance=indoors frequency=? mode=ap-bridge name=RadioB1
security-profile=guest_profile ssid=Guest_Wifi vlan-id=10
vlan-mode=use-tag wireless-protocol=802.11 wps-mode=disabled
add disabled=no keepalive-frames=disabled mac-address=xx:xx:xx:xx.xx:xx
master-interface=RadioB1 multicast-buffering=disabled name=VirtualRadioB2
security-profile=untrusted_profile ssid=Untrusted-wifi vlan-id=20
vlan-mode=use-tag wds-cost-range=0 wds-default-cost=0 wps-mode=disabled