Efficient access point roaming techniques involve a terminal device handing over a wireless communications session from a first access point to a second access point. The terminal device establishes a link with the second access point; authenticates the link with the second access point using an alternative access point address and a group key associated with the terminal device; and continues the communications session with the second access point using an address of the second access point. Various alternative access point addresses may be used, such as the address of the first access point, or a random address created by the terminal device during initiation of a prior access point connection. The terminal device may transmit a directive to the second access point to employ the alternative access point address.