Hello, I have noticed the same offsets on the BMI270 gyros. These offsets are always of the same amplitude -> +/-0.05°/s (for a 1000°/s range), and on two of the three axis. They appear randomly throughout the acquisition, with a higher probability at the beginning. We tried disabling all the registers fields that might induce these offsets, but it did not work. We tested with the same procedure you suggested. If you found a reason or a configuration that works, we are interested.
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