Yes, I2C pins are 5V tolerant and everything works good.
I am designing a mini driver board based on the DRV8316 to learn about FOC and robotics. Then I will design a powerful board based on the DRV8323. The mini board is ready. Do you have any experience with the DRV8316 IC? It’s a very good chip, doesn’t require many external components, and the main microcontroller will be the G474.