Level Shifters for GPIO Pins with I2C components

I was reading the “Jetson Nano Developer Kit 40-Pin Expansion Headers GPIO Usage Considerations” notes and in the introduction, it stated that level shifters were needed for all signals routed to the connector except I2C. Why except I2C. Does I2C handle level shifting? I’m confused.

The I2C on the header are 3.3V already.

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