Not really. As I mentioned, if you have low data rate, and lower the clock speed you can get long cables. Generally, 100cm (1 meter) I2C limits you to 100 kbps (10kbytes/s) and 10 meters cable limits you to 10kbps (1kbyte/s). If you are looking for motor control, and have 5 slaves, at 1 meter and 10 kbytes/s when you do timesharing of the data you cannot get anything better than 2kbytes/sec which is rather low. If that’s OK for your use case, you can get 1m cable. 10 meters I guess would not work in your case.
You can bi-directionally communicate with I2C, no problem, but then you need to lower the speed. Each roundtrip of data halves the data exchange rate. Now you see why CANBus (or any other differential protocol) is superior to I2C or SPI protocol in this case. CANBus achieves 1Mbps (100 kbyte/s) in a decentralized architecture out of the box.
I designed a very tiny and cheap CANBus module which uses SPI protocol and is very cheap, check this out, it may be the answer to your question.
https://community.simplefoc.com/t/can-bus-mcp2515-d230-sn65hvd230-diy-module-schematics/1247
No. I2C doesn’t work that way.
Only the oldest Arduinos use 5v, the newer ones use 3v, but yes, you need a logic level converter, or a just a simple voltage divider, depending on your architecture.
Also check this out
https://community.simplefoc.com/t/angle-sensor-spi-support-sc60228dc/1682
Nice 3d printing, please post some videos of the entire setup, hopefully you will make it work.
Cheers,
Valentine