Thanks for the advice everyone. I boosted the MPU voltage to 5v, and ended up shortening the I2C run down from 1m to about two inches. Regarding pull ups, I'm not certain how to calculate properly given that the TF02 Pro lidar is a black-box system with no schematics and I don't want to teardown. The gyro now works intermittently, but about every other reading fails if the other devices are on the bus. I'm going to conclude that with such a short run and only this sensor failing it must be a cheap, defective MPU and I'll try replacing it. It's a little too late to substitute another sensor at this point in the design process