I'm still experiencing this problem, and I can't figure out how to solve. If I set Accelerometer WU, Gyroscope WU and Quaternion at 400 Hz, I can't help but observe a FIFO overflow. I tried to decrease the size of the WORK_BUFFER down to 32, but that did nothing. I tried to increase my I2C speed but that did nothing too. The problem is that I have the same kind of problem when I multiplex different BHI: I can have up to 10 BHIs and so far I can multiplex 6 of them if I set every sampling rate at 50 Hz, and that is unacceptable to me, since I was literally faster with the BNO.
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