Hey Srijal,
I have written a quick-and-dirty guide on getting I2C working. I will add more details to this guide in the coming days, but here's a base guide on the LED setup I have working on my NavQ/Teensy LC.
https://nxp.gitbook.io/8mmnavq/navq-developer-guide/i2c
Examples are being prepared now on using the I2C port on a NavQ to communicate with a Teensy (to drive some WS2812 LEDs.
They will be posted here when completed: https://nxp.gitbook.io/8mmnavq/