i2c read failed: 4 with mpu6050 and saberthooth 2x25

On those modules, you have a choice of powering them with 5V into their voltage regulator, or suppling them with 3.3V to their 3.3V connection, which bypasses the module's voltage regulator.

If the posted schematics is correct, there is no way to circumvent the onboard voltage regulator. In this case a power supply of 3V3 is not enough. You might have other modules, maybe the OP too but I think we should believe him if he tells otherwise.