Fix for issue #2589 - i2Csetup for ESP 32-C3

[SimonGAndrews]

See comments in the issue #2589 regarding the details of the change and the testing completed.
Note

• the ESP32-S3 build was not tested but hopefully and should be ok.
• the element of this change, which reverses default pins for SDA & SCL for the ESP32 build (as discussed in the issue) will be a breaking change for anyone depending upon the I2C1.setup() function without specifying SDA and SCL in a config for the an ESP32 setup. However the ESP32 build will now be inline with common documentation.

[gfwilliams]

This looks excellent - thank you! I think it's very unlikely folks will be using I2C.setup without specifying pins so I'm pretty sure we're good.