Corrupted sensor reports when packets are read in 32-byte I2C chunks (ESP32-S3) #32

When running the modified "Linear Accelerometer" example with the sensor stationary, it is possible to see the outliers in the acceleration on line 9:

1. acx_unf:00.004, acy_unf:00.031, acz_unf:00.051, Roll:00.000, Pitch:00.000, Yaw:00.000, trust accel:3, Delta (μs):40.791
2. acx_unf:00.043, acy_unf:00.008, acz_unf:00.012, Roll:00.000, Pitch:00.000, Yaw:00.000, trust accel:3, Delta (μs):40.801
3. acx_unf:00.023, acy_unf:00.016, acz_unf:00.004, Roll:00.000, Pitch:00.000, Yaw:00.000, trust accel:3, Delta (μs):40.810
4. acx_unf:00.004, acy_unf:00.012, acz_unf:00.012, Roll:00.000, Pitch:00.000, Yaw:00.000, trust accel:3, Delta (μs):40.825
5. acx_unf:00.004, acy_unf:00.012, acz_unf:00.008, Roll:00.000, Pitch:00.000, Yaw:00.000, trust accel:3, Delta (μs):40.840
6. acx_unf:00.012, acy_unf:00.020, acz_unf:00.008, Roll:00.000, Pitch:00.000, Yaw:00.000, trust accel:3, Delta (μs):40.855
7. acx_unf:00.016, acy_unf:00.000, acz_unf:00.004, Roll:00.000, Pitch:00.000, Yaw:00.000, trust accel:3, Delta (μs):40.861
8. acx_unf:00.016, acy_unf:00.008, acz_unf:00.043, Roll:00.000, Pitch:00.000, Yaw:00.000, trust accel:3, Delta (μs):40.876
9. acx_unf:00.016, acy_unf:122.031, acz_unf:49.012, Roll:00.000, Pitch:00.000, Yaw:00.000, trust accel:3, Delta (μs):40.888
10. acx_unf:00.004, acy_unf:00.008, acz_unf:00.004, Roll:00.000, Pitch:00.000, Yaw:00.000, trust accel:3, Delta (μs):40.897
11. acx_unf:00.023, acy_unf:00.016, acz_unf:00.008, Roll:00.000, Pitch:00.000, Yaw:00.000, trust accel:3, Delta (μs):40.906
12. acx_unf:00.016, acy_unf:00.008, acz_unf:00.008, Roll:00.000, Pitch:00.000, Yaw:00.000, trust accel:3, Delta (μs):40.927
13. acx_unf:00.004, acy_unf:00.035, acz_unf:00.031, Roll:00.000, Pitch:00.000, Yaw:00.000, trust accel:3, Delta (μs):40.936
14. acx_unf:00.023, acy_unf:00.000, acz_unf:00.004, Roll:00.000, Pitch:00.000, Yaw:00.000, trust accel:3, Delta (μs):40.957
15. acx_unf:00.016, acy_unf:00.000, acz_unf:00.012, Roll:00.000, Pitch:00.000, Yaw:00.000, trust accel:3, Delta (μs):40.966

Description: With SH2_LINEAR_ACCELERATION and SH2_GAME_ROTATION_VECTOR enabled together (5 ms), SHTP packets are ~100 bytes and are read in ~4 chunks because _maxBufferSize = 32. Occasionally an accelerometer report has its Y/Z bytes replaced by the header of the following report. Example: acy = 122.031, acz = 49.012 while stationary, which is raw 08 7A 03 31 = [reportId 0x08][seq][status 0x03][delay]. Timestamps of those reports are also wrong (seq/delay reset, no 0xFB base timestamp report). Status stays at 3, so it can't be filtered by accuracy.

Observation: setting _maxBufferSize = 128 (ESP32's Wire buffer size) eliminated the problem, so the multi-chunk reassembly in i2chal_read() is the suspect. I haven't identified the exact mechanism.

Suggestion: default _maxBufferSize to I2C_BUFFER_LENGTH when the platform provides it, and review the chunk-continuation logic.

Environment: ESP32-S3, Arduino core X.Y.Z, 100 kHz, external 3.3k pull-ups.