Anyone experience with INS systems working with PX4?

Hi there. While researching about INS integration with PX4 I came across this section in the PX4 documentation naming several models/brands: IMU, AHRS, and INS | PX4 Guide (main)
Trying to find some user experience regarding them in connection with PX4 I was not able to come across much so I wanted to reach out here and ask if any of you have experience with any of them or another INS model and their px4 integration (wiring, data stream - precision, reliability at speed and during GPS loss). Any experience would be very much appreciated.