Some(Most in 2021?) Wifi-chips can function in several modes at the same time, but all on the same frequency, because they use the same radio. Now, If you have 2 radios attached to your chip, you could have several functions on several frequencies/channels.
Update 2021: Some cards can work on 2 Channels at the same time. These are 2.4/5Ghz combination devices, and most of those can do 1 of the 2.4, and another 1 from the 5Ghz Channels at the same. Some devices received this function via a FW upgrade, e.g. some Intel Cards.
Some other cards, like the one the PI ZeroW, can do 2 channels in the 2.4Ghz group at the same time.
E.g. the Intel 3160 can be 1 station, 1 Access-Point, AND 1 P2P device at the same time. This is used for WiDi or Miracast, while still being connected to the "other" Network.
The valid combinations for your chip can be seen as root with:
iw list | grep -A 8 'interface combination'
Some examples:
Intel 3160:
valid interface combinations:
* #{ managed } <= 1, #{ AP, P2P-client, P2P-GO } <= 1, #{ P2P-device } <= 1,
total <= 3, #channels <= 2
Qualcomm Atheros QCA986x/988x 802.11ac Wireless Network Adapter
* #{ AP, mesh point } <= 8, #{ managed } <= 1,
total <= 8, #channels <= 1, STA/AP BI must match
- Qualcomm Atheros QCA9377 802.11ac Wireless Network Adapter (rev 31)
* #{ managed } <= 2, #{ AP, mesh point, P2P-client, P2P-GO } <= 2, #{ P2P-device } <= 1,
total <= 4, #channels <= 1
* #{ managed } <= 2, #{ P2P-client } <= 2, #{ AP, mesh point, P2P-GO } <= 1, #{ P2P-device } <= 1,
total <= 4, #channels <= 2
* #{ managed } <= 1, #{ IBSS } <= 1,
total <= 2, #channels <= 1
* #{ managed } <= 1, #{ P2P-device } <= 1, #{ P2P-client, P2P-GO } <= 1,
total <= 3, #channels <= 2
* #{ managed } <= 1, #{ AP } <= 1, #{ P2P-client } <= 1, #{ P2P-device } <= 1,
total <= 4, #channels <= 1
- USB MediaTek Inc., driver mt76x0u
* #{ IBSS } <= 1, #{ managed, AP, mesh point, P2P-client, P2P-GO } <= 2,
total <= 2, #channels <= 1, STA/AP BI must match
* #{ AP, mesh point } <= 8,
total <= 8, #channels <= 1
rtl8192cu dongles, that use the same chip as your device, and most Realtek devices report:
interface combinations not supported
This message means, that your card can only perform 1 function at the same time.
For some wifi-chips several signed firmwares with differing capabilities are available. AFAICT, not for your rtl819x though.
For an Intel IWLWifi a solution could have been to switch (one of the) connections to you being the AP, or making it "Ad-Hoc"
Otherwise you'd have to replace your card with one that has #{managed}<5 or similarly relaxed restrictions.
Or, add a(nother) 10€ WUSB-WiFi-dongle for connection to the second AP.