Hi,
Thanks for pointing this.
It is true that BNO055 datasheet page 27 has P4 and P7 switched on the axis remapping sign register value. At P4 position the AXIS_REMAP_SIGN register should have value of 0x05, not 0x03 and at P7 position the the AXIS_REMAP_SIGN register should have value of 0x03, not 0x05. I will report this typo to Germany to get the datasheet corrected.
Thanks.