Anyone with Seeed ESP32S3 using i2c?

I am having issues getting my i2c sensor working with my new Seeed ESP32S3, as it is not finding anything on the bus. The seeed docs are confusing me as they have different pins listed in the pinout and the example. So can someone post their esphome yaml, and exactly what pins they have connected in hardware? Thanks.

I just got it working by using below, using pins just as listed on pinout.

  sda: GPIO5
  scl: GPIO6
  scan: true
  id: bus_b