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Move I2C driver to `i2c::master` #8695

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Job	Run time
extras	1s
esp-hal (esp32c2)	1s
esp-hal (esp32c3)	1s
msrv	1s
esp-hal (esp32c6)	1s
esp-hal (esp32h2)	1s
esp-hal (esp32)	1s
esp-hal (esp32s2)	1s
host-tests	1s
esp-hal (esp32s3)	1s
rustfmt	1s
	11s