Rework i2c #2923

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Run time

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Job	Run time
Build xtasks \| armv7	1m 46s
Build HIL Tests \| esp32c2	1m 30s
Build xtasks \| aarch64	1m 44s
Build HIL Tests \| esp32c3	1m 43s
Build HIL Tests \| esp32c6	1m 57s
Build HIL Tests \| esp32h2	1m 52s
Build HIL Tests \| esp32	3m 59s
Build HIL Tests \| esp32s2	4m 13s
Build HIL Tests \| esp32s3	4m 38s
Run HIL Tests \| esp32c2	3m 36s
Run HIL Tests \| esp32c3	4m 11s
Run HIL Tests \| esp32c6	3m 33s
Run HIL Tests \| esp32h2	3m 57s
Run HIL Tests \| esp32	5m 6s
Run HIL Tests \| esp32s2	6m 22s
Run HIL Tests \| esp32s3	6m 6s
	56m 13s