With the suggested configuration the problem is still present;
as already described we are using esp-idf-v5.3.1 and current version of esp32-camera component (2.0.15 automatically downloaded during first build) is still using old i2c driver for IDF < 5.4 (Please see at CMakeLists.txt of esp32 ...

Downloaded and installed Espressif-IDE 3.1.0 with ESP-IDF v5.3.1 - Offline Installer
Downloded and installed ESP ADF with git command git clone --recursive https://github.com/espressif/esp-adf.git
Imported example code examples\protocols\esp-rtsp
Build succesfully the imported project with the ...