I think you misunderstand, there's a driver in Linux that uses the RPMSG system to control the I2C bus through the M4.
There must be some sort of M4 side software required for this, I'm looking for this code. It's not the I2C side of the M4 code that I'm having trouble with, it's the RPMSG interface. This may be software for the IMX8D or IMX8Q, I see references to this driver into the device tree for those (fsl,i2c-rpbus).