First, given the above question, I would first suggest you make sure you picked the right import option! ;)
However, here's where things tricky.
The primary issue here is that the CSV update import functionality was not designed with roundtripping in a single system in mind, and because of this there are some facts that make this more difficult. I've previously tried to describe this at greater length in the following post:
Essentially, the legacyID value in your export is in fact the object ID in AtoM's database - not the legacyID value that might be stored in the keymap table if those records were previously imported. If you created those records via the user interface, there won't be a legacyID value or source_name to match against in the keymap table anyway. Consequently, the import falls back to trying to match exactly on title, identifier, and repository name. If you've edited any of these fields in your CSV, then it's unlikely you are going to get a match. This is at least why the "Skip unmatched" can be helpful - though if and when you do finally attempt this in a production system, I still strongly recommend making backups before proceeding.
As noted in the first thread, Steve has captured some ideas for making roundtrip updates in a single system work better, in ticket #
12281. That one is in the Wishlist because the work involved is a bit more than Artefactual can take on as a bug fix or minor release enhancement, so we'll need to find a community sponsor to be able to implement the ideas captured there.
I haven't tried this myself, but if you are handy with SQL, I suppose you could actually go into the keymap table for the related parent records and add the information object ID as the legacyID value, and the name of your CSV as the source_name value? That should lead to better matching. Could be a lot of work though if you're trying to update many different collections.