fix(i2c): Port i2c fix from new driver to legacy driver (IDFGH-14924)

[swoboda1337]

Description

There was a fix to the new i2c driver in #13647 but not the legacy driver. Port the fix to the legacy driver.

Can see the change here: fdc5fa2

ESPHome i2c scan locks up on C6 and P4, with this fix it works. Would be nice to see this fix in a 5.3 or a 5.4 release if possible.

Related

#13647

Testing

Tested with custom idf build and i2c scan issue is resolved, could see a few bus clear errors during the scan where it was recovered successfully.

Checklist

Before submitting a Pull Request, please ensure the following:

• 🚨 This PR does not introduce breaking changes.
• All CI checks (GH Actions) pass.
• Documentation is updated as needed.
• Tests are updated or added as necessary.
• Code is well-commented, especially in complex areas.
• Git history is clean — commits are squashed to the minimum necessary.

[github-actions]

Warnings

⚠️

Some issues found for the commit messages in this PR: the commit message "Port i2c stuck fix from new driver to legacy driver": summary looks empty type/action looks empty Please fix these commit messages - here are some basic tips: follow Conventional Commits style correct format of commit message should be: <type/action>(<scope/component>): <summary>, for example fix(esp32): Fixed startup timeout issue allowed types are: change,ci,docs,feat,fix,refactor,remove,revert,test sufficiently descriptive message summary should be between 20 to 72 characters and start with upper case letter avoid Jira references in commit messages (unavailable/irrelevant for our customers) TIP: Install pre-commit hooks and run this check when committing (uses the Conventional Precommit Linter).

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