I2C communication not working

I have a M5stack I2C joystick connected to side i2C port of the UNIHIKER. I use the following code to initialize the board:

Then I initialize the I2C port. When I do a scan, I see the address after a few tries (which is very slow):

But then, I can not read any values from the i2C sensor:

When I re-initialize the board, I always get an error and only after like 10 retires, the board is initialized correctly. It fails in one of the steps collecting information of the Firmata board, or at opening the serial port:

or this error:

Is there any work around or trick to get i2C working in a stable way?