Are all VESC based ESCs within the same generation standardized in their sensors and data payloads?

Hi, I am working on a telemetry logging system for a combat robot.

I can't find information on most manufacturer's websites or product descriptions about if their ESCs have accelerometers inside of them.

I know that VESC compatible HW can have accelerometers on them, my question is if ALL HW4 and/or HW6 variants require accelerometers and other sensors, or if SOME include them and SOME do not.

I am using the SolidGeek VescUart library to communicate to the VESCs over UART. https://github.com/SolidGeek/VescUart

I do know that some information becomes unavailable if you are driving brushed instead of brushless motors!

Thanks!