You have the correct bno.
Schematics is same for both PCB v2 and kaupoi v4.
Now AOG has evolved, so I also suggest to use kaupoi without bno085, and make the panda board which use a teensy 4.1 and combine input from bno085 and ublox F9P . Output is a roll corrected GPS sentence. (Read the panda thread)
Alternative is to ditch the kaupoi board and order the all in one board which use teensy instead of the nano .
A lot of components from kaupoi board can be used on the aio steerboard, if you want to solder yourself.
Jlcpcb can make the aio steerboard with most smd components and then you solder the missing parts through hole .( The board is designed to use both types)