Outside APM you can take/modify the code examples and stick them together in your own solution. If you are not a C++ programmer then the Python examples are probably closer to scripting.
Other than that if you really wanted log level information I could imagine the drivers could be set in some kind of verbose mode, but cannot comment on that because I don’t know the Linux source. But even if that were possible it’s likely there would be too much data written to the SD card (all sensors at the same time) so could interfere with the standard APM logging (the best then).
Whether the dual IMU of Navio2 appears to APM as one or two devices is unknown to me. I suppose it would make sense to allow both through then let the APM EKF stuff do it’s magic to decide which sensor is sending better data.