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Move I2C driver to `i2c::master` #8702

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Run time

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Job	Run time
esp-hal (esp32c2)	7m 48s
extras	49s
esp-hal (esp32c3)	8m 15s
host-tests	7s
esp-hal (esp32c6)	10m 32s
msrv	8m 8s
esp-hal (esp32h2)	9m 11s
esp-hal (esp32)	11m 18s
rustfmt	26s
esp-hal (esp32s2)	11m 35s
esp-hal (esp32s3)	13m 22s
	1h 21m 31s