That's what I did actually, using https://github.com/sparkfun/SparkFun_BM ... no_Library, but when I tried it, all I got was garbage on the serial monitor.
But today I've read in Mr. Kolban's book this fragment:
I2C and the Wire library – The default pins on the ESP32 for the I2C and Wire
library are GPIO21 for SDA and GPIO22 for SCL
I've just connected the I2C pins to some random ports, having read that any of them could be used and about some port multiplexing, but without actually understanding how this works
I'll try again a bit later using 21/22.