stickbreaker has worked a lot to improve the problems with I2C on the ESP32. But his work has not yet been merged into Arduino-ESP32 framework.

To use stickbreakers improvements you can download his code from his Github repo’s release and replace the following files in your ESP32 folder:

• examples in libraries/Wire/examples
• readme in libraries/Wire/doc
• readme in root
• modified files
  • cores/esp32/esp32-hal-i2c.h
  • cores/esp32/esp32-hal-i2c.cpp
  • cores/esp32/esp32-hal-log.h
  • libraries/Wire/src/Wire.h
  • libraries/Wire/src/Wire.cpp