Move I2C driver to `i2c::master` #3006

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Run time

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Job	Run time
Build xtasks \| armv7	1m 38s
Build xtasks \| aarch64	1m 37s
Build HIL Tests \| esp32c2	1m 28s
Build HIL Tests \| esp32c3	1m 38s
Build HIL Tests \| esp32c6	1m 44s
Build HIL Tests \| esp32h2	1m 48s
Build HIL Tests \| esp32	3m 55s
Build HIL Tests \| esp32s2	4m 3s
Build HIL Tests \| esp32s3	4m 28s
Run HIL Tests \| esp32c2	3m 36s
Run HIL Tests \| esp32c3	4m 7s
Run HIL Tests \| esp32c6	3m 39s
Run HIL Tests \| esp32h2	4m 16s
Run HIL Tests \| esp32	5m 8s
Run HIL Tests \| esp32s2	6m 19s
Run HIL Tests \| esp32s3	6m 1s
	55m 25s