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by adamrmcd 1231 days ago
I am not an expert, but I think it depends on your MCU. (Some may have better implementation of a soft-pull-up than others.)

I've only implemented i2c on esp32-s2, and left the pullup footprints unpopulated at first. Eventually I came to the same conclusion and put two 10k resistors on and called it a day. Cost was negligible.