This is my setup
Here is maybe a way to do it…..
pfSense is a superb border router, most consumer wireless routers pales in comparison to the performance, reliability and flexibility you get with pfSense. If your going to spend time and money setting up a pfSense you might as well make it your border router! I use this as the basis for my home network:
WAN ---> pfSense --> switch1
Connect all your home devices to switch1 (wireless router, computers, game consoles, etc.). For most people you just set up your wireless router as a WAP only - no routing!
For your multiple networks (VLAN) requirement - first question is your wireless router supported by dd-wrt? If so, you could set up dd-wrt with port base vlan. Then each of the ports is a separate network. I use dd-wrt for my WAPs (runs very well) but I don't run multiple networks so I don't know how well this works.
If you can't or don't want to change the firmware on your wireless router to dd-wrt, you can buy a managed switch and set up your networks (VLANs) on it.