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Yes, an IMU can help you as compared to only wheel encoders! There's a more formal explanation which I think is worth digging into on your own time, but the major point is that an IMU's orientation/gryo drift is only proportional to time where wheel encoders are proportional to distance.
That's a _huge_ result in my opinion making robotics much easier. Time is almost never the enemy but distance is. After moving 1 meter, you may have AMCL, ORB-SLAM, etc update your global position and then your drift is corrected. If you had wheel encoders only then the longer you go without an update the more wacky things are going to get. Versus having an IMU you can trust in the loop, you can now go a very long time without updates assuming practical limits.
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