ESP32 fast bit-bang I2C library for Arduino, drop in replacement for Wire.h
The library reaches up to 3 MHz I2C clock speed. No fancy bits and bobs: no timeouts, no clock stretching, blocking only... Made for fast IMU sensor reading were an occasional missed read does not matter, but bus hangups do matter.
Tested on ESP32, probably works on ESP32-S3 and ESP32-C3, might work on other ESP32 variants.
Limitation: pins 0-31 only
As of December 2023 the official arduino-esp32 Wire library has some nasty bugs. In particular, there is a 1 second timeout which hangs the bus on a bad read, and this timeout can not be lowered without changing the source code, see espressif/esp-idf#4999 and espressif/arduino-esp32#5934. So occasionally (a couple times per minute) 1000 samples are missed when you are reading a sensor at 1 kHz.