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Add timeout option on i2c.rst (esphome/issues#4340) (#2778) 

Co-authored-by: Jesse Hills <3060199+jesserockz@users.noreply.github.com>
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@ -37,6 +37,9 @@ Configuration variables:
Defaults to ``true``.
- **frequency** (*Optional*, float): Set the frequency the I²C bus should operate on.
Defaults to ``50kHz``. Values are ``10kHz``, ``50kHz``, ``100kHz``, ``200kHz``, ... ``800kHz``
- **timeout** (*Optional*, :ref:`config-time`): Set the I²C bus timeout.
Defaults to the framework defaults (``100us`` on ``esp32`` with ``esp-idf``, ``50ms`` on ``esp32`` with ``Arduino``,
``1s`` on ``esp8266`` and ``1s`` on ``rp2040``). Maximum on ``esp-idf`` is 13ms.
- **id** (*Optional*, :ref:`config-id`): Manually specify the ID for this I²C bus if you need multiple I²C buses.
.. note::