MPU6050 has i2c error,how can fix this?

Using Arduino Sensors
1 
#include <Arduino.h>
#include <TFT_eSPI.h>
#include "I2Cdev.h"
#include "MPU6050.h"
#include "Wire.h"

#define WIDTH  128
#define HEIGHT 160

#define OUTPUT_READABLE_ACCELGYRO

int16_t ax, ay, az;
int16_t gx, gy, gz;

MPU6050 accelgyro;
TFT_eSPI tft = TFT_eSPI();
TFT_eSprite spr = TFT_eSprite(&tft); 


void setup() {
  Serial.begin(115200);
  Wire.begin();

  accelgyro.setXGyroOffset(220);
  accelgyro.setYGyroOffset(76);
  accelgyro.setZGyroOffset(-85);

  spr.createSprite(WIDTH, HEIGHT); 
  tft.init();
  tft.setRotation(1);
  spr.fillScreen(TFT_BLACK);
  spr.setTextFont(2);
  spr.setTextSize(1);
  spr.setTextColor(TFT_GREEN);
  
  accelgyro.initialize();
  accelgyro.testConnection();
  
  if (accelgyro.testConnection())
   {
    Serial.println("MPU6050 connection successful");}
    
    else
    {Serial1.println("MPU6050 connection failed");}
  

}
  
  
void loop() {

  // accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
  accelgyro.getAcceleration(&ax, &ay, &az);
  accelgyro.getRotation(&gx, &gy, &gz);
  

  spr.fillScreen(TFT_BLACK);
  spr.setCursor(0, 0);
  
  #ifdef OUTPUT_READABLE_ACCELGYRO
    // display tab-separated accel/gyro x/y/z values
    Serial.print("a/g:\t");
    Serial.print(ax); Serial.print("\t");
    Serial.print(ay); Serial.print("\t");
    Serial.print(az); Serial.print("\t");
    Serial.print(gx); Serial.print("\t");
    Serial.print(gy); Serial.print("\t");
    Serial.println(gz);
  #endif

  spr.drawString("X: " +String(ax), 0, 0);
  spr.drawString("Y: " +String(ay), 0, 40);
  spr.drawString("Z: " +String(az), 0, 80);
  spr.drawString("GX: " +String(gx), 70, 0);
  spr.drawString("GY: " +String(gy), 70, 40);
  spr.drawString("GZ: " +String(gz), 70, 80);


  spr.pushSprite(0,0);
  
  delay(1000);
  
}

Hi everyone, this is my code. After uploading, I successfully read the sensor data. When I unplug the Type-C plug from the esp32 and plug it back in, I get an error and cannot read the data. This is what I see from the serial monitor. Error received: [8200][E][Wire.cpp:499] requestFrom(): i2cWriteReadNonStop returned error -1

I've tried re-uploading the code and pressing rest but it didn't fix the error, thanks for the help.

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