I use SHT31 with 1-meter cable, twisted it as I can
It works.
This will really depend on the cable, sensor, and HW devices on both sides.
You can make the signal better by replacing 10k resistors with 4.7k.
Or by the usage of level shifters and use 5V for the sensor (if it supports it) and 3.3V for MCU.
Both things will make the signal edges steeper.
BTW, I think my dirty async software I2C can also help with that, but I did not have issues, and havenāt an oscilloscope to directly reproduce and test that.
P.S. I tested RP2040 patch, and updated the link to the PR above.