The lack of documentation on the sensors is pretty disappointing. I think I found the i2c address for the "IMU motion sensor" . I thought there was a temperature sensor for the esp32 but seems like it's only the pi builtin. For the Microphone, what pins is it connected to on the esp32, I'm assuming it's not connected to the pi at all even with the jumpers. I'm doing a WHOLE LOT OF Googling to try and figure out the details and trying this and that. When the details should be clearly put in the docs for the KEY.
I found the Schematic for the Udoo Key here: https://udoo.org/download/files/UDOO_KEY/Doc/UDOO_KEY_SCHEMATICS.pdf According to this there are two ESP32 IO used the I2S, The I2S CLK is connected to IO27 and the IS2 DO to IO27, The I2S DI is not connected, I have not used I2S protocols so I can't help you there but I hope this helps.
