Some time ago I went down a deep VIO rabbit hole which led me to try out a bunch of different available packages on different hardware. The combo that I found worked best for me was the Realsense d435i along with VINS fusion and I made a video that shows 3D mapping of my apartment complex using only that camera https://youtu.be/kZzNukC70ak (the map data is integrated using Octomap)
Are there folks here that use VIO or VISLAM algorithms on their robot? What packages do you use and with what hardware?