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Adding `I2C` HIL test #1166

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Run time

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Job	Run time
Build HIL Tests \| esp32c2	1m 38s
Build xtasks \| armv7	1m 37s
Build HIL Tests \| esp32c3	1m 50s
Build xtasks \| aarch64	1m 34s
Build HIL Tests \| esp32c6	1m 56s
Build HIL Tests \| esp32h2	1m 44s
Build HIL Tests \| esp32s2	4m 4s
Build HIL Tests \| esp32s3	4m 38s
Run HIL Tests \| esp32c2	2m 43s
Run HIL Tests \| esp32c3	2m 44s
Run HIL Tests \| esp32c6	2m 29s
Run HIL Tests \| esp32h2	2m 42s
Run HIL Tests \| esp32s2	4m 9s
Run HIL Tests \| esp32s3	3m 43s
	37m 31s