Try learning about Wire library and IIC
the problem is each module may do wire differently due to age and hardware
that i think is the problem, i do not have the module, but it compiled on XIAO SAMD but thru the same error on me when I tried XIAO ESP32S3
If you look in SparkFun_MiniMoto and look at .cpp and .h files and wiki you can see the regesters
all you are really doing is reading and writing to regesters by IIC, so maybe google it
Try running wirescan and see if it discovers any IIC devices