Plotly works pretty well (which I suspect you're alluding to) and it works completely offline, no need to upload any data to their cloud.
While I can't speak for millions of data points, generating a gyroscope plot with x, y, z, where each gyro axis is 400k+ samples is fine performance wise. This is generating a static, interactive html. Zooming etc is fine on my M1 MacbookPro 13" - delay when zooming in this specific case is maybe 0.5secs. The html-file is 60mb+.