Hi.
 
You can communicate with the sensors using the “standard” Wire.h library. Here’s a link to the library:

• https://github.com/espressif/arduino-esp32/blob/master/libraries/Wire/src/Wire.h

We don’t have a tutorial using the Wire.h library.
 
However, I’ve found this tutorial by HowToMechatronics that provides an example reading from an I2C sensor using the sensor registers:

• https://howtomechatronics.com/tutorials/arduino/how-i2c-communication-works-and-how-to-use-it-with-arduino/

The example provided is for the Arduino board, but the methods are compatible with the ESP32 board.
 
I hope this helps.
Regards,
Sara
 

 I would like to try it. Thank you very much.