That part has a lot of registers to read to obtain the info you're looking for.
I'd suggest you search for an I2C or SPI library that can do that already.
https://www.digikey.com/en/product-highlight/i/invensense/mpu-9250-9-axis-gyro-accel-magnet
https://store.invensense.com/datasheets/invensense/MPU9250REV1.0.pdf