Found the issue:

Adafruit_PN532 objects need the IRQ and RST pin. If this lib acceses the SDA and SCL pins directly then it confuses the PN532 beyond recognition.

Hi, I have a very peculiar bug. Sometimes my NFC PN532 reader, will cause the I2C bus on the ESP32 to completely freeze up. It will return [Wire.cpp:513] requestFrom(): i2cRead returned Error 263 permanently. No flashing with working code, no power cycling, no nothing can resolve it. The I2C communc...