Hi, thank you a lot for the project, the documentation and effort! using the ESP32-S2 Metro there are already I2C pullups included so i didn't connect the jumper on the SimpleFOC V2.0.4. Using that setup with an AS5048b i did run into issues getting I2C communication to work. Whitout the shield it did work as expected. I solved the issue by desoldering one of the 4,7k I2C pullups of the V2.0.4 shield. Please check for next shield version, thank you!