@HarjitS, to clarify, I said you can correct for both the steering wheel and kart rotations, but you cannot separate them without additional sensors. You can get close using GPS as the additional sensor to estimate kart rotation around a turn, but that’s much coarser resolution than the gyro/accel readings.
You can only determine the gravity vector when static. Dynamically, you can’t assume the orientation of the sensor is the same because both the kart and the steering wheel dance around so much. For example, hitting a curb can cause the whole kart to rotate about the steering wheel plane, so the gyro alone cannot distinguish kart from steering wheel.