Hi All,
I've written an Arduino library for the ICM-20948 which you can find on Github here:
https://github.com/drcpattison/DPEng_ICM20948_AK09916
It contains raw sensor data, magnetometer/compass calibration and AHRS examples.
There will also be an accompanying breakout board which works with 3 - 5V microcontrollers available for purchase soon so please "watch" the repository if you're interested in updates.
Enjoy,
DPEng