diff --git a/src/lgfx/v1/platforms/esp32/common.inl b/src/lgfx/v1/platforms/esp32/common.inl
index 595e2328..d1ed1dcf 100644
--- a/src/lgfx/v1/platforms/esp32/common.inl
+++ b/src/lgfx/v1/platforms/esp32/common.inl
@@ -1240,6 +1240,23 @@ namespace lgfx
   #include <core_version.h>
 #endif
 
+// TwoWire::end() exists from core 2.0.1 (0x44c11981 is 2.0.0). Some board packages lack
+// core_version.h; they are judged by esp_arduino_version.h, which 2.0.1 and 2.0.2 still
+// report as 2.0.0, hence the git version first.
+#if defined ( ARDUINO ) && __has_include (<Wire.h>) && defined ( ESP_IDF_VERSION_VAL )
+ #if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(4, 0, 0)
+  #if defined ( ARDUINO_ESP32_GIT_VER )
+   #if ARDUINO_ESP32_GIT_VER != 0x44c11981
+    #define LGFX_TWOWIRE_HAS_END
+   #endif
+  #elif defined ( ESP_ARDUINO_VERSION_VAL )
+   #if ESP_ARDUINO_VERSION >= ESP_ARDUINO_VERSION_VAL(2, 0, 1)
+    #define LGFX_TWOWIRE_HAS_END
+   #endif
+  #endif
+ #endif
+#endif
+
 // Register layout of the I2C block. Only the older chips are named; anything not
 // listed is taken to carry the current layout, so a new target lands there rather
 // than on the ESP32 one.
@@ -1591,35 +1608,6 @@ namespace lgfx
         updateDev(dev);
       }
 
-      void setPins(i2c_dev_t* dev, gpio_num_t scl, gpio_num_t sda)
-      {
-        pin_sda = sda;
-        pin_scl = scl;
-#if defined ( ARDUINO ) && __has_include (<Wire.h>)
- #if defined ( ESP_IDF_VERSION_VAL )
-  #if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(4, 0, 0)
-   #if defined ARDUINO_ESP32_GIT_VER
-    #if ARDUINO_ESP32_GIT_VER != 0x44c11981
-     #define USE_TWOWIRE_SETPINS
-    #endif
-   #endif
-  #endif
- #endif
-
-#if LGFX_HP_I2C_NUM == 1
-        auto twowire = &Wire;
-#else
-        auto twowire = ((dev == &I2C0) ? &Wire : &Wire1);
-#endif
-
- #if defined ( USE_TWOWIRE_SETPINS )
-        twowire->setPins(sda, scl);
- #else
-        twowire->begin((int)sda, (int)scl);
- #endif
-#endif
-      }
-
 // A low power port is opened through the ESP-IDF driver even in an Arduino build, where
 // the normal ports go through TwoWire, so the handle is needed in both cases.
 #if __has_include(<driver/i2c_master.h>) \
@@ -1979,17 +1967,13 @@ namespace lgfx
 #endif
         {
 #if defined ( ARDUINO ) && __has_include (<Wire.h>) && defined ( ESP_IDF_VERSION_VAL )
- #if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(4, 0, 0)
-  #if defined ARDUINO_ESP32_GIT_VER
-    #if ARDUINO_ESP32_GIT_VER != 0x44c11981
-      #if LGFX_HP_I2C_NUM == 1
+ #if defined ( LGFX_TWOWIRE_HAS_END )
+  #if LGFX_HP_I2C_NUM == 1
         auto twowire = &Wire;
-      #else
+  #else
         auto twowire = ((i2c_port == 0) ? &Wire : &Wire1);
-      #endif
-        twowire->end();
-    #endif
   #endif
+        twowire->end();
  #endif
 #elif __has_include(<driver/i2c_master.h>)
         auto bus_handle = i2c_context[i2c_port].i2c_bus_handle;
@@ -2404,6 +2388,16 @@ namespace lgfx
       }
       i2c_context[i2c_port].save_reg(dev);
 
+      // Still busy although no transfer of ours is running: a slave glitch can leave the
+      // controller waiting for a STOP forever (ESP32 has no FSM reset bit). Recover the bus
+      // and the controller as the ESP-IDF driver does before it starts a command (the C2 and
+      // C3 skip the peripheral reset there and rely on fsm_rst below).
+      if (getBusBusy(dev))
+      {
+        ESP_LOGV("LGFX", "i2c::beginTransaction : bus busy, recover");
+        i2c_stop(i2c_port);
+      }
+
       // A low power port reaches its pads through the low power IO domain, which set_pin()
       // knows nothing about: routing them through the normal GPIO matrix here would
       // disconnect the port from its own pins on every transaction. A shared port keeps
@@ -2746,18 +2740,12 @@ namespace lgfx
 #if defined ( ARDUINO ) && __has_include (<Wire.h>)
           _twowire = nullptr;
           if (search_sda >=0 && search_scl >= 0) {
-#if defined ( ARDUINO ) && __has_include (<Wire.h>) && defined ( ESP_IDF_VERSION_VAL )
- #if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(4, 0, 0)
-  #if defined ARDUINO_ESP32_GIT_VER
-    #if ARDUINO_ESP32_GIT_VER != 0x44c11981
+#if defined ( LGFX_TWOWIRE_HAS_END )
             _twowire = &Wire;
 #if defined (I2CEXT1_SDA_IN_IDX)
             if (i2c_port != 0) { _twowire = &Wire1; }
 #endif
             _twowire->end();
-    #endif
-  #endif
- #endif
 #endif
           }
 #endif