ICM42605 and Kalman filter

Hi All,
I am evaluating ICM42605 sensor and, although some documentation topics could be more comprehensive, all in all the sensor works very nicely, including FIFO mode burst data reads.
Now it is time to think of FIFO data processing. I learnt that probably I should use Kalman Filter. I am wondering if there are any known good examples of Extended Kalman Filter (EKF) batch data processing, preferably based on CMSIS-DSP or Eingen3 libs. All I need is to calculate roll and pitch. So far all the solutions I came across are of no or very limited usability. I am wondering if there are any official TDK examples of how to effectively process gyro/accel data batches to obtain stable and precise results.