apply i2c delay fix from adafruit/esp-idf #6366
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Fixes #6263 by switching to https://github.com/adafruit/esp-idf, which has adafruit/esp-idf#2 applied. The patch in adafruit/esp-idf#2 is from espressif/esp-idf#8770.
When the espressif/esp-idf#8770 patch gets into https://github.com/espressif/esp-idf, we can switch back to using the upstream repo.
I re-tested that the delay is gone with this submodule change with an MSA301 on a Metro ESP32-S2.