Hi there,
SO “Yaw” then ? if that’s the case you almost really need a magnetometer. You can do some via calculation and a filter, albeit not as accurate. Check that link I posted They talk about it and show an example if I recall , SParkFun has more than Seeed for info on it and there LIB does some other stuff too, Best bet is Register reads and Writes though for more advanced tech.
You can do it also with BLE , using AOA , and AOD but we would need a Xiao with a Nrf54L15 
I think with the Accelerometer Data and the Kalman Filter you can get it going, there are examples let’s see who else can chime in. I think the Sense Parts are Fantastic, Seeed should really refine it and make it even better. 
HTH
GL 
PJ 