Hi Lucas,
You are right that on the Aurix derivatives AURIX™ TC23x, AURIX™ TC22x and AURIX™ TC21x there is no dedicated I2C module available. Never the less there is the possibility to emulate an I2C with the help of bit banging.
This means you need to use the CPU to generate the protocol with the data you want to send and send it through the Timer output (TOM) channels.
Best regards,
Mr. AURIX™