ESP32 Forum

2+ Years later...

Is there a proper solution yet?

Like Wifi says, mutex. May add an extra mutex but cost is low and you can sleep safe.
Its not normal to use a device/driver from multiple threads. If the driver has to cover these RT bases then the driver would get fat and slow.
So best that these particular use/cases are handled at the application level.

You could also use i2c manager to handle it for you. See https://github.com/ropg/i2c_manager

Best regards