For p-adic split SO_{2n+1} and Sp_{2n}, irreducible representations of good parity are unitary if and only if they are of Arthur type.
Atobe, On the socles of certain parabolically induced representat ions of p-adic classical groups
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Unitary dual of $p$-adic split $\mathrm{SO}_{2n+1}$ and $\mathrm{Sp}_{2n}$: The good parity case (and slightly beyond)
For p-adic split SO_{2n+1} and Sp_{2n}, irreducible representations of good parity are unitary if and only if they are of Arthur type.