fix(PeriphDrivers): Update I2C driver which causes a Double-Read (#1293)

[dnguye14-adi]

Description

Add a waiting for the Transaction to finish between writing and reading section.

Checklist Before Requesting Review

• [ ] PR Title follows correct guidelines.
• [ ] Description of changes and all other relevant information.
• [ ] (Optional) Link any related GitHub issues using a keyword
• [ ] (Optional) Provide info on any relevant functional testing/validation. For API changes or significant features, this is not optional.

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