Rework i2c #2925

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Run time

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Job	Run time
Build xtasks \| armv7	1m 43s
Build HIL Tests \| esp32c2	1m 37s
Build xtasks \| aarch64	1m 47s
Build HIL Tests \| esp32c3	1m 42s
Build HIL Tests \| esp32c6	1m 53s
Build HIL Tests \| esp32h2	1m 49s
Build HIL Tests \| esp32	3m 55s
Build HIL Tests \| esp32s2	3m 58s
Build HIL Tests \| esp32s3	4m 24s
Run HIL Tests \| esp32c2	3m 35s
Run HIL Tests \| esp32c3	4m 11s
Run HIL Tests \| esp32c6	3m 32s
Run HIL Tests \| esp32h2	3m 56s
Run HIL Tests \| esp32	5m 5s
Run HIL Tests \| esp32s2	6m 22s
Run HIL Tests \| esp32s3	6m 6s
	55m 35s