pull-up resistors should be on both sides.
I only suggest touching them on the sensor, motherboards are sacred 
Because this is a bus, when you connect like 2-3 devices here - you effectively decrease the total resistance of pull-up and increase the capacitance because of longer wires.
I’m trying a shielded cable, and use ferrite rings
This will not decrease capacitance.
lower the bus speed to 100000
on stm32h723 i2c hardware is not regulated properly, you can’t change speed.
Everything is very bad
So, line is just charging slowly.