Is possible to get the Quaternion from DMP without the FIFO?

Hi,
I'm using five MPU6050 to map body movement and the amount of data is giving me trouble to use the FIFO to get the DMP calculated Quaternion. In the documentation has a line that says: "The DMP acquires data from accelerometers, gyroscopes, and additional 3rd party sensors such as magnetometers, and processes the data. The resulting data can be read from the DMP’s registers, or can be buffered in a FIFO." (Document:https://invensense.tdk.com/mems/gyro/documents/PS-MPU-6000A-00v3.4.pdf Page 25 Section 7.2).
And I want to read the date directly from the DMP registers that are cited in the documentation, but I couldn't find it on the specification manuals.

Please Invensense folks, I spending more than a month trying to solve this problem with FIFO... :(


Thanks!