@Sarah Jackson yeah this is a solid build concept and dead reckoning with fused IMU/pressure is exactly the kind of thing this module combo is designed for — but let me help you dodge the most common trap here before you go further.
The sensors module has seven sensors onboard and a few of them share common I2C addresses that can collide depending on what else is on your bus. The magnetometer and the pressure sensor are the usual suspects. If you're seeing weird behavior on the bus — garbage reads, devices not ACKing, one sensor seemingly "taking over" — that's almost certainly an address conflict, not a wiring fault. Worth pulling up the I2C scanner sketch on your ESP32-S3 first and just dumping what addresses are actually responding before you do anything else.
The GNSS module on the other hand is typically UART rather than I2C, so those two shouldn't be fighting each other directly — but if you've wired GNSS to I2C for some reason, that's worth double-checking.
What's the "weird thing" you're seeing exactly? Knowing whether it's a bus lockup, incorrect readings, or one module just not showing up at all would help narrow it down pretty fast.
