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M5Stack-Fire board detection should be:
i2c0 = I2C(0, sda=Pin(21), scl=Pin(22))
if {0x68} <= set(i2c0.scan()): # IMU (MPU6886)
return "m5stack-fire"
But there are some pin incompatibilities between ESP32 and ESP32-S3 boards that don't allow I2C scan.