diff --git a/cmake/Depthai/DepthaiDeviceSideConfig.cmake b/cmake/Depthai/DepthaiDeviceSideConfig.cmake
index 6263ef2d1..25a741544 100644
--- a/cmake/Depthai/DepthaiDeviceSideConfig.cmake
+++ b/cmake/Depthai/DepthaiDeviceSideConfig.cmake
@@ -2,7 +2,7 @@
 set(DEPTHAI_DEVICE_SIDE_MATURITY "snapshot")
 
 # "full commit hash of device side binary"
-set(DEPTHAI_DEVICE_SIDE_COMMIT "549315be3f2e2af09e6301c5b131b77ceedb0391")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "afcf303d4bee6a0e313fc763ecb390fcf1a4886e")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")
diff --git a/cmake/Hunter/config.cmake b/cmake/Hunter/config.cmake
index 80b026f93..9503ea228 100644
--- a/cmake/Hunter/config.cmake
+++ b/cmake/Hunter/config.cmake
@@ -8,8 +8,8 @@ hunter_config(
 hunter_config(
     XLink
     VERSION "luxonis-2021.4.2-xlink-linkid-race-fix"
-    URL "https://github.com/luxonis/XLink/archive/6bf33bb51100f6a5aa159d025159fa22eb4f15b7.tar.gz"
-    SHA1 "e54effec01d0fa7403fcc34ebebf784370256a29"
+    URL "https://github.com/luxonis/XLink/archive/14d4056d9d9dc21de2c6089a4648ddb9e981f418.tar.gz"
+    SHA1 "14613474368971d67c520f6f911cf88fb6384506"
     CMAKE_ARGS
         XLINK_ENABLE_LIBUSB=${DEPTHAI_ENABLE_LIBUSB}
 )
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index cc0c22fcc..606ab29ff 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -374,3 +374,4 @@ dai_add_example(crash_report CrashReport/crash_report.cpp OFF)
 dai_add_example(sync_scripts Sync/sync_scripts.cpp ON)
 dai_add_example(demux_message_group Sync/demux_message_group.cpp ON)
 dai_add_example(depth_video_synced Sync/depth_video_synced.cpp ON)
+dai_add_example(imu_video_synced Sync/imu_video_synced.cpp ON)
diff --git a/examples/Sync/imu_video_synced.cpp b/examples/Sync/imu_video_synced.cpp
new file mode 100644
index 000000000..9a12f96cb
--- /dev/null
+++ b/examples/Sync/imu_video_synced.cpp
@@ -0,0 +1,74 @@
+#include <iostream>
+#include <opencv2/opencv.hpp>
+
+#include "depthai/depthai.hpp"
+
+int main() {
+    dai::Device device;
+
+    auto imuType = device.getConnectedIMU();
+    auto imuFirmwareVersion = device.getIMUFirmwareVersion();
+    std::cout << "IMU type: " << imuType << ", firmware version: " << imuFirmwareVersion << std::endl;
+
+    if(imuType != "BNO086") {
+        std::cout << "Rotation vector output is supported only by BNO086!" << std::endl;
+        return 1;
+    }
+
+    dai::Pipeline pipeline;
+
+    auto colorCamera = pipeline.create<dai::node::ColorCamera>();
+    auto imu = pipeline.create<dai::node::IMU>();
+    auto sync = pipeline.create<dai::node::Sync>();
+    auto xoutGroup = pipeline.create<dai::node::XLinkOut>();
+
+    xoutGroup->setStreamName("xout");
+
+    colorCamera->setCamera("color");
+
+    imu->enableIMUSensor(dai::IMUSensor::ROTATION_VECTOR, 120);
+    imu->setBatchReportThreshold(1);
+    imu->setMaxBatchReports(10);
+
+    sync->setSyncThreshold(std::chrono::milliseconds(10));
+    sync->setSyncAttempts(-1);  // Infinite attempts
+
+    colorCamera->video.link(sync->inputs["video"]);
+    imu->out.link(sync->inputs["imu"]);
+
+    sync->out.link(xoutGroup->input);
+
+    device.startPipeline(pipeline);
+
+    auto groupQueue = device.getOutputQueue("xout", 3, false);
+
+    while(true) {
+        auto groupMessage = groupQueue->get<dai::MessageGroup>();
+        auto imuData = groupMessage->get<dai::IMUData>("imu");
+        auto colorData = groupMessage->get<dai::ImgFrame>("video");
+        auto timeDifference = imuData->getTimestampDevice() - colorData->getTimestampDevice();
+        auto timeDifferenceUs = std::chrono::duration_cast<std::chrono::microseconds>(timeDifference).count();
+
+        std::cout << "Time difference between messages is: " << std::abs(timeDifferenceUs / 1000.0) << " ms" << std::endl;
+
+        for(auto& packet : imuData->packets) {
+            auto& rv = packet.rotationVector;
+
+            printf(
+                "Quaternion: i: %.3f j: %.3f k: %.3f real: %.3f\n"
+                "Accuracy (rad): %.3f \n",
+                rv.i,
+                rv.j,
+                rv.k,
+                rv.real,
+                rv.rotationVectorAccuracy);
+        }
+
+        cv::imshow("Color", colorData->getCvFrame());
+        if(cv::waitKey(1) == 'q') {
+            break;
+        }
+    }
+
+    return 0;
+}
diff --git a/shared/depthai-shared b/shared/depthai-shared
index 84db0c02f..a73b58b5d 160000
--- a/shared/depthai-shared
+++ b/shared/depthai-shared
@@ -1 +1 @@
-Subproject commit 84db0c02f562ac38007616a2f416cf97be8b7939
+Subproject commit a73b58b5d0c7798633309d3b0ce4d40c096014ca