fix(i2c): Fix clear bus issue in legacy i2c driver (IDFGH-14927)

[swoboda1337]

Description

There was a fix to the new i2c driver in #13647 but not the legacy driver. Port the fix to the legacy driver.

Can see the diff here: fdc5fa2

ESPHome i2c scan locks up on C6 and P4, with this fix it works. Would be nice to see this fix in a 5.3 or a 5.4 release if possible.

Related

#13647

Testing

Tested with custom idf build and i2c scan issue is resolved, could see a few bus clear errors during the scan where it was recovered successfully.

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