BNO080/085/086 is a CEVA's product with tare function.
BNO055 is Bosch Sensortec's product. For sensor configuration, refer to the data sheet https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bno055-ds000.pdf and sensor API https://github.com/BoschSensortec/BNO055_driver
For BHI160B configuration, you can also refer to the data sheet https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bhi160b-ds000.pdf and sensor API https://github.com/BoschSensortec/BHy1_driver_and_MCU_solution
Bosch Sensortec's products and CEVA's products have different sensor configuration method.