Using hardware I2C on an ESP32 ... found a nice hack — just connect your devices to different pins and slightly abuse the ESP32 GPIO muxing, no extra hardware required! Initially, they tried ...

We made something similar but using the RP2350A board, the Raspberry Pi Pico 2, and published a guide on how to get Wi-Fi on the Pico 2 using an ESP32 ... with more GPIO pins than the RP2350A ...