Hi Deljo,
Thanks for your question.
We have offset to adjust the timing.
Please check 4.10.6 part delay in datasheet.
https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmi270-ds000.pdf
And please also use our github for Aux examples.
https://github.com/BoschSensortec/BMI270-Sensor-API
Thank you.
https://github.com/BoschSensortec/BMI270-Sensor-API
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