🔀️ Merge branch 'yann/refactor/imu/standardize-naming' into develop #5895

Job	Run time
Build & run (ubuntu-24.04, Clang 18, /usr/bin/clang-18, /usr/bin/clang++-18)	1m 41s
Build & run (ubuntu-24.04, GCC 13, /usr/bin/gcc-13, /usr/bin/g++-13)	1m 11s
	2m 52s

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