Hi Kiran,
For R16 can you let us know the number of devices facing the issue.
Are you referring the same error reported in the link: I2C BUS ERROR:noisy bus/unexpected - Legato Linux distribution (Yocto project) - Legato Forum
The error looks to be different than the previously discussed on this post. Have you tried reproducing the issue on the MangOH Platform.
Btw did you try to verify the issue is from the module by disabling other peripheral I2C devices outside the module?
Thanks & Regards,
Pankaj Sant