I have been working to test the ESP32 (with a lot of help from the Arduino core team!) and I have tested a variety of I2C sensors. A repository of Arduino sketches for these sensors (MPU9250, BME280, MS5637, VEML6040, BNO055) as well as sketches that make use of the other ESP peripherals known to work can be found here:
https://github.com/kriswiner/ESP32
I will add more sketches as my testing continues...
ESP32 sketch repository
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Espressif Systems is a fabless semiconductor company providing cutting-edge low power WiFi SoCs and wireless solutions for wireless communications and Internet of Things applications. ESP8266EX and ESP32 are some of our products.