ESP32C3 I2C - Does it require pull up resistors?

Hello,
I looked on the ESP32C3 XIAO schematic and found that there is no pull up resistors for the I2C SDA - SCL.
If i want to use the I2C do i need to attach two pull up resistors for the SDA SCL?
If yes, what are the values?

Thank you

Just buy grove products and you will be fine

Thanks for this contribution!
Seeed should add this to the Wiki!