Tool/software:
Please refer to MSPM0C/L/G's TRM: https://www.ti.com/lit/pdf/slau846
20.2.4.1.1 Controller Configuration - Controller Quick Command transaction
Here is the demo code:
i2c_controller_quick_command_LP_MSPM0G3507_nortos_ticlang.zip
Here is the I2C waveform: