I recall at some point in the past reading about issues using I2C with arduino-esp32 as a master or maybe it was slave. Does anyone else remember this and can you tell me if it was solved?
https://github.com/espressif/arduino-esp32/tree/master/libraries/Wire

Looking around, it seems there have been some fixes:
#5683 (replaces 5664) Thread-Safe I2C based on IDF
#5746 Added I2C Slave (this is likely what I was thinking about)
#5770 (documentation)
#5910 Fixes clock stretching issue
#5935 Match vartype to IDF

Possible issues:
#6333 I2C scan. Possible user error.
#5934 (Duplicate 5972) I2C Master Wire.requestFrom timeout not obeyed
#5907 I2C slave fires onRequest even though master was requesting a different address

FYI I'm currently using a custom build which has been fantastic:
platform = https://github.com/tasmota/platform-espressif32/releases/download/v2.0.2.3/platform-espressif32-2.0.2.3.zip