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ESP32: Share I2C bus among multiple freeRTOS tasks - do I have to expect synchronization issues?

I recently inherited some firmware with weird problems in regards to the duration of reading sensor values. The board is based on the ESP32 Wrover MCU and has multiple sensors connected via the I2C ...
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Unable to create a file on SD with Teensy 3.2 with FreeRTOS

I'm trying to log data to SD card using Teensy 3.2. I've taken the code from Arduino Examples SD > ReadWrite.ino and modified it slightly to run it with FreeRTOS - no changes in the header libraries ...