Rotating on two axis and then slowly correcting

[JulesDeLaT]

I built several trackers using ESP32C3 Beetles and BMI160s, however, one of them (Specifically a ESP32, I have swapped the sensors and all of them work as intended) when rotating it either on the x or y axis only, we get rotation from two axis and after stopping it slowly corrects to the objective position, I am unsure if the correction is due to drift compensation but we are certainly getting rotation on axis not moving, any idea what could be wrong? I have tried flashing 0.4.0 release and main using bscotch firmware tool