How do you connect a companion computer to a Pixhawk using i2c?

I have a wt32-sc01 (ESP32) device I would like to connect to a Pixhawk 2.4.8. All the serial ports on the companion device are already used so I was thinking I could use i2c. Is this feasible? Is there a guide available, I tried Googling a guide for connecting to an Arduino via i2c but didn’t have any luck.

I2C is primarly made for sensors and on a MAster/Slave configuration.
You could use softserial to add ports to the ESP32 of maybe use WIFI or Bluetooth but thats a lot of work for such a simple task

That’s good to know thanks.