I am trying to get the IMU unit to work on my Nano RP2040.
I get these same results on multiple Arduino Nano RP2040s
I installed the python library into the rp2040 using the command ./mpremote.exe mip install github:jposada202020/MicroPython_LSM6DSOX and ran the following code:

import time
from machine import Pin, I2C
from lib.micropython_lsm6dsox.lsm6dsox import LSM6DSOX
# from lsm6dsox import LSM6DSOX
i2c = I2C(1, sda=Pin(2), scl=Pin(3))  # Correct I2C pins for RP2040
print(str(i2c))
devices = i2c.scan()
print(str(devices))
if devices:
    for d in devices:
        print(hex(d))
        time.sleep(1)
time.sleep(1)
lsm = LSM6DSOX(i2c)
while (True):
    print('Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.accel()))
    print('Gyroscope:     x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.gyro()))
    print("")
    time.sleep_ms(100)

and got:

MPY: soft reboot
I2C(1, freq=399361, scl=3, sda=2, timeout=50000)
[]
106 15 1 #this is coming from a debug line I wrote to print 'obj._address, self.register, self.lenght' in the 'RegisterStruct' class of i2c_helpers.py 
Traceback (most recent call last):
  File "<stdin>", line 14, in <module>
  File "lib/micropython_lsm6dsox/lsm6dsox.py", line 159, in __init__
  File "/lib/micropython_lsm6dsox/i2c_helpers.py", line 120, in __get__
OSError: [Errno 116] ETIMEDOUT

When I try the same thing using the following I2C config, I get:
i2c=I2C(0, scl=Pin(13), sda=Pin(12))

MPY: soft reboot
I2C(0, freq=399361, scl=13, sda=12, timeout=50000)
[106]
0x6a
106 15 1
Traceback (most recent call last):
  File "<stdin>", line 16, in <module>
AttributeError: 'LSM6DSOX' object has no attribute 'accel'

Platform: MicroPython v1.22.1 on 2024-01-05; Arduino Nano RP2040 Connect with RP2040

Code:

import time
from micropython_lsm6dsox import LSM6DSOX
from machine import Pin, I2C

lsm = LSM6DSOX(I2C(0, scl=Pin(13), sda=Pin(12)))
while (True):
accx, accy, accz = lsm.acceleration
gyrox, gyroy, gyroz = lsm.gyro
print(f"Accelerometer: x:{accx:8.3f} y:{accy:8.3f} z:{accz:8.3f}")
print(f"Gyroscope: x:{gyrox:8.3f} y:{gyroy:8.3f} z:{gyroz:8.3f}")
print(f"Temperature: :{lsm.temperature}")
print("")
time.sleep_ms(1000)

When executed (using ampy) , generates the expected output lines for Accelerometer and Gyroscope, but then the error:
File "/lib/micropython_lsm6dsox/lsm6dsox.py", line 402, in temperature\r\nTypeError: 'int' object isn't subscriptable

It seems that in the line 402 there is an implicit conversion from int to float, which generates the error.