https://youtu.be/qzH-zLBYKdsA look back at the filter approaches reviewed here: https://youtu.be/4v9aZeIDkvI
Approach #2, which differientiates between 8k vs. 32k sampling is found here: https://youtu.be/ryONT42HPTY. Video to the Gyro DLPF and looking at the latency of the two approaches is at: https://youtu.be/yBaSinrpMPs
This video looks at noise profiles to see which approach is best based on your specific noise profile.
Logs can be found at: https://drive.google.com/drive/folders/1gMyDtjF960AvYBP98Yv73OzQx6FMXbYS?usp=sharing