LSM6DSV seems experimental but it's been a while since I looked into it (I'd ask on the Discord), BNO085 drifts less than BMIs by a lot but suffers from the stomping bug which is a problem if you do a lot of shuffle dancing, BMI270 does not suffer from the stomping bug but drifts more.
Some people use BNOs for the chest, hips and such and then use BMI270s on the feet, ankles and thighs so they can go ham but also suffer less drift overall, this is a nice middle-ground because the further up on your body a tracker is, the more the drift from that tracker impacts tracking accuracy.
I used BMI160s for a long time and eventually the quick resets became second nature - I'm probably going to be swapping out my ankle and thigh BNOs for BMI270s on a second set of trackers, and just swapping them out depending on the activity I'm doing.
