Hi,
Thank you so much for your interest in our products and for using our community.
We do not have an off haptic driver Ic to test your issue.
But what you can do is to choose an I2C clock speed slow enough to ensure all devices have enough processing time.
Maybe the master tries to read data from a slave, but the slave needs more time to prepare the data. Or the master is writing data, but its transmit buffer hasn't been filled yet.
Hope it helps you.
Have a nice day!