Passive WiFi sniffing without associating to the AP
Suppose that I have a WiFi adapter that is in range of several APs and clients, all sharing the same channel and all using WPA2 encryption. I know all their passwords. I'd like to sniff on all of them simultaneously. As I understand, I can decrypt traffic for each client as long as I can capture that client's handshake, I don't actually have to be associated to any of the APs.
I know that I can capture everything using wireshark, or capture with airodump-ng and then decrypt with airdecap-ng (and then somehow go through decrypted packets by hand?), but that's too much manual labor. Or I can use something like bettercap, and it'll do everything I need on the fly, but it wants to be associated to a particular AP, because it is designed mainly as a man-in-the-middle tool.
Are there any other tools that would sniff and decrypt the traffic (to the extent it can be decrypted), reporting e.g. observed HTTP requests in real time?