I2C: move code into Driver #3111

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Run time

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Job	Run time
Build HIL Tests \| esp32c2	1m 30s
Build HIL Tests \| esp32c3	1m 45s
Build HIL Tests \| esp32c6	1m 50s
Build HIL Tests \| esp32h2	1m 44s
Build xtasks \| armv7	1m 35s
Build xtasks \| aarch64	1m 44s
Build HIL Tests \| esp32	4m 4s
Build HIL Tests \| esp32s2	4m 2s
Build HIL Tests \| esp32s3	4m 31s
Run HIL Tests \| esp32c2	3m 40s
Run HIL Tests \| esp32c3	4m 20s
Run HIL Tests \| esp32c6	3m 44s
Run HIL Tests \| esp32h2	4m 5s
Run HIL Tests \| esp32	5m 15s
Run HIL Tests \| esp32s2	6m 30s
Run HIL Tests \| esp32s3	6m 12s
	56m 31s