chore(i2c): Update kconfig docstrings and deprecation warning for completeness and helpfulness

[finger563]

Description

• Update the i2c/Kconfg to have more up-to-date information regarding when the i2c legacy driver will be deprecated (esp-idf >= v6.0)
• Update i2c.hpp deprecation warning to include information about how to turn off the deprecation warning to help people :)

Motivation and Context

• Improves the docs
• Helps people understand that they can disable the deprecation warning if they choose to.

How has this been tested?

• Build and run i2c/example

Screenshots (if appropriate, e.g. schematic, board, console logs, lab pictures):

Updated deprecation warning:

Types of changes

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)
• Documentation Update
• Hardware (schematic, board, system design) change
• Software change

Checklist:

• My change requires a change to the documentation.
• I have added / updated the documentation related to this change via either README or WIKI

Software

• I have added tests to cover my changes.
• I have updated the .github/workflows/build.yml file to add my new test to the automated cloud build github action.
• All new and existing tests passed.
• My code follows the code style of this project.

[github-actions]

✅Static analysis result - no issues found! ✅