MPU6000 Sample Rate

Hi there, I am using an MPU 6000 from InvenSense on a custom PCB. I am trying to test how high the sample rate can be for this sensor. I am getting very confused because there's a sample rate we can set through the actual sensor and its registers (sample divisor rate), but also within an Arduino loop, the rate at which we receive the sample could be different. Is the sensor firing at a certain rate once initialized and we are simply sampling from this in our Arduino code? I have a lot more questions, but I think I will start here. Any help would be much appreciated, thanks!

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