The correct way to support both 3.3v devices and 5v devices is specified in this document as follows:
"The simple addition of two low-cost transistors, placed between the different voltage level sections of the I²C-bus, separates and transfers the logic voltage levels of the bus lines on either side of the level-shifter." More info in this application note, and here.
Yet another solution is to use bus buffer as specified in the application note:

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