The IMU (Bosch BMI260) is incorrectly identified in the BIOS. It's named BMI0160:00 in ACPI table.
The IMU is on /dev/i2c-2, address 0x69. It's CHIP_ID in reg 0x00 is 0x27, which could determine that it is actually BMI0260: https://chromium.googlesource.com/chromiumos/platform/ec/+/master/driver/accelgyro_bmi260.h#28