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Two reasons:
The latter causes a circular dependency between the git repos rp-hal and i2c-pico. This makes updating version numbers more difficult: It requires incremental updates, first updating the version of rp2040-hal, then updating i2c-pico to use the newer hal version, and only then updating the board support crates and their examples.
This could be reconsidered once we move the BSPs into separate repositories, #244.