Move I2C driver to `i2c::master` #8634

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Run time

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Job	Run time
esp-hal (esp32c2)	5m 51s
esp-hal (esp32c3)	6m 4s
extras	59s
esp-hal (esp32c6)	7m 37s
esp-hal (esp32h2)	6m 49s
esp-hal (esp32)	6m 26s
msrv	8m 3s
esp-hal (esp32s2)	6m 43s
esp-hal (esp32s3)	6m 50s
rustfmt	40s
host-tests	14s
	56m 16s