How to evaluate the Logic Compatibility with I2C lines
There are \$V_{OL}\$ specifications for I2C open-drain outputs. However, they are given for a specified value of current so you must size your resistor so that the actual current does not exceed that value and the \$V_{IL}\$ specification is met.
On the other hand, you must ensure that the leakage current of the I2C open-drain outputs, when passing through your pullup resistor, does not cause a voltage drop large enough that the \$V_{IH}\$ specifications are not met. This is rarely a problem.
Finally, you must verify that the \$RC\$ time constant of the pullup resistor and wiring capacitance will not exceed the maximum rise time specification for the bus, at whatever frequency you have chosen.