Well, yeah, if you are getting FIFO overflow, you are not emptying it out in time so something must be using too much time. If you are generating PWM signals for the servo with the same processor that reads the MPU then you could easily overflow the FIFO. I mean if THAT'S your configuration. It also means your sensor is set for free running reads.
The servo and the sensor are overflowing the fifobuffer.
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