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Remove public hidden I2C APIs #8656

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Job	Run time
msrv	7m 49s
rustfmt	23s
extras	1m 5s
esp-hal (esp32c2)	8m 0s
esp-hal (esp32c3)	8m 17s
host-tests	12s
esp-hal (esp32c6)	10m 32s
esp-hal (esp32h2)	8m 53s
esp-hal (esp32)	11m 12s
esp-hal (esp32s2)	11m 29s
esp-hal (esp32s3)	13m 13s
	1h 21m 5s